Range and position determination system and method

ABSTRACT

A lift machine including a frame, a platform movable relative to the frame and structured to support a user, and a range and position determination system. The range and position determination system including a base unit coupled to the frame and structured to determine a platform position relative to the frame, a human machine interface structured to identify a desired position, and one or more processing circuits structured to: receive a total weight of the platform, determine distance and orientation information of the desired position, query a load map, return an acceptable status when the distance and orientation information and the total weight are within the operational envelope, return an unacceptable status when the distance and orientation information and the total weight are outside the operational envelope, and output the acceptable status or the unacceptable status to the human machine interface for display to the user.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application claims the benefit of and priority to U.S. ProvisionalApplication No. 63/128,499, filed Dec. 21, 2020, and U.S. ProvisionalApplication No. 63/225,236, filed Jul. 23, 2021, the entire disclosuresof which are incorporated by reference herein.

BACKGROUND

The present disclosure relates to reaching apparatuses such as booms ortelehandlers. More particularly, the present disclosure relates to areaching range of the reaching apparatuses.

SUMMARY

One embodiment of the present disclosure is a lift machine that includesa frame, a platform movable relative to the frame and structured tosupport a user, and a range and position determination system. The rangeand position determination system includes a base unit coupled to theframe and structured to determine a platform position relative to theframe, a human machine interface structured to identify a desiredposition, and one or more processing circuits structured to: receive atotal weight of the platform, determine distance and orientationinformation of the desired position, query a load map including anoperational envelope using the distance and orientation information andthe total weight, return an acceptable status when the distance andorientation information and the total weight are within the operationalenvelope, return an unacceptable status when the distance andorientation information and the total weight are outside the operationalenvelope, and output the acceptable status or the unacceptable status tothe human machine interface for display to the user.

Another embodiment of the present disclosure is a range and positiondetermination system for a lift machine. The range and positiondetermination system includes a human machine interface structured toidentify a desired position, a base unit structured to be coupled to aframe of the lift machine and to: determine a platform position, of aplatform coupled to the frame, relative to the frame, receive a totalweight of the platform, determine distance and orientation informationof the desired position relative to frame, query a load map including anoperational envelope using the distance and orientation information andthe total weight, return an acceptable status when the distance andorientation information and the total weight are within the operationalenvelope, return an unacceptable status when the distance andorientation information and the total weight are outside the operationalenvelope, and output the acceptable status or the unacceptable status tothe human machine interface.

Another embodiment of the present disclosure is a method that includesidentifying a desired position of a platform, receiving a total weightof the platform, determining distance and orientation information of thedesired position, querying a load map including an operational envelopeusing the distance and orientation information and the total weight,returning an acceptable status when the distance and orientationinformation and the total weight are within the operational envelope,returning an unacceptable status when the distance and orientationinformation and the total weight are outside the operational envelope,and outputting the acceptable status or the unacceptable status to thehuman machine interface for display to a user.

This summary is illustrative only and is not intended to be in any waylimiting. Other aspects, inventive features, and advantages of thedevices or processes described herein will become apparent in thedetailed description set forth herein, taken in conjunction with theaccompanying figures, wherein like reference numerals refer to likeelements.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures, wherein like reference numerals refer to like elements, inwhich:

FIG. 1 is a diagram of a building and a worker using a reach andplacement tool at a particular location to determine if an apparatus canreach one or more locations, according to an exemplary embodiment;

FIG. 2 is a diagram of a polar coordinate system including circularreach envelopes of an apparatus and one or more points of interestrelative to a reference point, according to an exemplary embodiment;

FIG. 3 is another diagram of a polar coordinate system includingnon-circular reach envelopes of an apparatus and one or more points ofinterest relative to a reference point, according to an exemplaryembodiment;

FIG. 4 is a front view of the reach and placement tool of FIG. 1,according to an exemplary embodiment;

FIG. 5 is a side view of the reach and placement tool of FIG. 1,according to an exemplary embodiment;

FIG. 6 is a block diagram of the reach and placement tool of FIGS. 1 and4-5, according to an exemplary embodiment;

FIG. 7 is a flow diagram of a process for determining if a reachingapparatus can reach one or more points of interest from a currentlocation, according to an exemplary embodiment;

FIG. 8 is a block diagram of the reach and placement tool of FIGS. 1-6providing sensor data to a personal computer device for analysis andprocessing, according to an exemplary embodiment;

FIG. 9 is a block diagram of the reach and placement tool of FIGS. 1-6providing sensor data to a cloud computing system for analysis andprocessing, according to an exemplary embodiment; and

FIG. 10 is a block diagram of the reach and placement tool of FIGS. 1-6providing sensor data to a control system of mobile equipment foranalysis and processing, according to an exemplary embodiment.

FIG. 11 is a perspective view of a lift machine, according to anexemplary embodiment.

FIG. 12 is a perspective view of a worksite including a vehicle,according to an exemplary embodiment.

FIG. 13 is a perspective view of the worksite of FIG. 12, according toan exemplary embodiment.

FIG. 14 is a perspective view of the worksite of FIG. 12, according toan exemplary embodiment.

FIG. 15 is a perspective view of a platform assembly of a lift device,according to an exemplary embodiment.

FIG. 16 is a perspective view of a range and position determinationsystem, according to an exemplary embodiment.

FIG. 17 is a perspective view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 18 is a perspective view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 19 is a perspective view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 20 is a perspective view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 21 is a schematic view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 22 is a schematic view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 23 is a table of status indicators for the range and positiondetermination system of FIG. 16, according to an exemplary embodiment.

FIG. 24 is a front view of a cable of the range and positiondetermination system of FIG. 16, according to an exemplary embodiment.

FIG. 25 is a schematic view of the range and position determinationsystem of FIG. 16, according to an exemplary embodiment.

FIG. 26 is a perspective view of a worksite including a vehicle with alift device and a range and position determination system, according toan exemplary embodiment.

FIG. 27 is a front view of an HMI of the range and positiondetermination system of FIG. 26, according to an exemplary embodiment.

FIGS. 28A-H are perspective views of the worksite including the vehiclewith the lift device and the range and position determination system ofFIG. 26, according to an exemplary embodiment.

FIG. 29 is a perspective view of the range and position determinationsystem of FIG. 26, according to an exemplary embodiment.

FIG. 30 is a perspective view of the worksite including the vehicle withthe lift device and the range and position determination system of FIG.26, according to an exemplary embodiment.

FIG. 31 is a perspective view of the worksite including the vehicle withthe lift device and the range and position determination system of FIG.26, according to an exemplary embodiment.

FIG. 32 is a perspective view of the range and position determinationsystem of FIG. 26, according to an exemplary embodiment.

FIG. 33 is a perspective view of the range and position determinationsystem of FIG. 26, according to an exemplary embodiment.

FIG. 34 is a load map of a boom lift used by the range and positiondetermination systems of FIGS. 20 and 30, according to an exemplaryembodiment.

FIG. 35 is a perspective view of a refuse vehicle, according to anexemplary embodiment.

FIG. 36 is a perspective view of a refuse vehicle, according to anexemplary embodiment.

FIG. 37 is a perspective view of a mixer vehicle, according to anexemplary embodiment.

FIG. 38 is a perspective view of a concrete pump vehicle, according toan exemplary embodiment.

FIG. 39 is a perspective view of a fire fighting vehicle, according toan exemplary embodiment

FIG. 40 is a perspective view of a lift machine, according to anexemplary embodiment.

FIG. 41 is a perspective view of a scissor lift vehicle, according to anexemplary embodiment.

FIG. 42 is a perspective view of an ultra boom lift, according to anexemplary embodiment.

DETAILED DESCRIPTION

Before turning to the FIGURES, which illustrate the exemplaryembodiments in detail, it should be understood that the presentapplication is not limited to the details or methodology set forth inthe description or illustrated in the FIGURES. It should also beunderstood that the terminology is for the purpose of description onlyand should not be regarded as limiting.

Overview

Referring generally to the FIGURES, a reach and placement tool can beheld by a worker, and directed at different points of interest at aparticular location of a work site. The reach and placement tool mayinclude an orientation sensor and a distance sensor that are configuredto obtain a polar coordinate of each of the different points of interestas the worker directs the reach and placement tool towards the points ofinterest. The reach and placement tool can include an eyepiece or ascope to facilitate proper direction of the reach and placement tool.The reach and placement tool may store one or more reach envelopes fordifferent reach apparatuses. The reach and placement tool uses the polarcoordinates and the reach envelopes to determine which of the points ofinterest are within range of the reach apparatus. The reach andplacement tool can include a display screen to notify the workerregarding which of the points of interest are within range.Advantageously, the reach and placement tool facilitates determining ifthe reach apparatus can reach all of the points of interest from theparticular location.

The various exemplary embodiments disclosed herein also relate tosystems, apparatuses, and methods for range and position determinationfor a lift device. In some embodiments, the lift device is mounted to avehicle (e.g., a front end loader of a refuse vehicle, a lift drum of aconcrete vehicle, a ladder boom of a fire or safety vehicle, a workplatform of a boom lift, an implement of a telehandler, a work platformof a scissor lift, etc.). Within the context of this disclosure, a liftdevice can be embodied by any system or apparatus that moves spatiallyrelative to a fixed point. For example, a work platform of a boom liftmoves spatially relative to a frame of the boom lift. Even if thevehicle itself is moving (e.g., a fire truck moving forward) orstationary, the spatial movement of the lift device is relative to thefixed point of the vehicle (e.g., a ladder boom moves relative to thefire truck frame even if the entire fire truck is moving).

A range and position determination system of the vehicle is structuredto recognize a relative position of the lift device relative to thechassis, and to determine a distance based on a user input. In someembodiments, the user input includes the user sighting a desiredposition (e.g., a position on a building) and identifying the desiredposition using a laser distance meter (LDM) and an inertial measurementunit (IMU). In some embodiments, other distance and alignment sensors ordevices are included and/or the LDM and IMU are eliminated. In someembodiments, a camera and scanning system determines a distance ofobjects (e.g., power lines, buildings, bridges, etc.) and the userselects the desired position using a graphical user interface (GUI)generated on a human machine interface (HMI) such that the camera andscanning system can recognize a physical location based on the user'sselection via the GUI. The user identified desired position is receivedby the range and position determination system as an input.

The range and position determination system is structured to analyze thechassis location, the desired position of the lift device, and generatea notification for the user indicating that the desired position isacceptable, or that the desired position is unacceptable. In someembodiments, the notification is in the form of a color coded map,augmented reality, or virtual reality image generation. In someembodiments, a thumbs up, thumbs down, red/green color coding, oranother notification type is provided. The determination of acceptableor unacceptable may be based on load capacity charts or lookup tables(e.g., how high and far the lift device can be extended with the currentload on the lifting device), or based on a physical clearance fromobjects (e.g., how far away are power lines or other obstructions).

Reach and Placement System Overview

Referring to FIG. 1, a reach and placement system 10 can be used todetermine if a reach apparatus (e.g., a boom, a telehandler, a cherrypicker, etc.) can reach one or more points of interest 14 (e.g., worklocations, reach locations, etc.), according to an exemplary embodiment.For example, the points of interest 14 may be different locations orwork areas of a building 12. As shown in FIG. 1, the points of interest14 include a first point of interest 14 a (e.g., at scaffolding of thebuilding 12), a second point of interest 14 b (at a first height of awall of the building 12), a third point of interest 14 c (at a secondheight of the wall of the building 12), and a fourth point of interest14 d (at a window of the building 12). It should be understood that anynumber of points of interest 14 can be identified as either being withinrange of the reach apparatus, and the present disclosure is not limitedto only four points of interest 14.

In order to determine if the reach apparatus can reach the points ofinterest 14 from a particular location 16, or to determine if the reachapparatus can reach one or more of the points of interest 14 whenpositioned at the particular location 16, a worker 18 may positionthemselves at the particular location 16 and use a reach and placementtool 100 to determine if a particular reach apparatus (e.g., aparticular model of boom, telehandler, etc.) can reach the points ofinterest 14 or to determine which of the points of interest 14 theparticular reach apparatus (e.g., the particular model of boom,telehandler, etc.) can reach. The reach and placement tool 100 caninclude one or more reach envelopes of various models of reachapparatuses (e.g., telehandlers, booms, cherry-pickers, etc.) so thatthe reach and placement tool 100 may identify which of the points ofinterest 14 are within an envelope or within a percentage of theenvelope.

The reach and placement tool 100 can operate for a three-dimensionalarea, and may use distance sensors (e.g., infrared lasers, sonar, etc.)and orientation sensors (e.g., accelerometers, gyroscopes, etc.) todetermine a distance and angular orientation of each of the points ofinterest 14 relative to the particular location 16. In some embodiments,the reach and placement tool 100 can simulate actual placement of thereach apparatus at the particular location 16 using the envelope todetermine which of the points of interest 14 are reachable from theparticular location 16. Advantageously, using the reach and placementtool 100 can facilitate determining an appropriate location for reachingthe points of interest 14 before placement of the reach apparatus.

Referring still to FIG. 1, the reach and placement tool 100 can use afirst reach envelope 22 and a second reach envelope 20. The first reachenvelope 22 is a maximum or outer reach of a particular model of reachapparatus. The second reach envelope 20 is a portion of the first reachenvelope 22 (e.g., 70% of the first reach envelope 22, 80% of the firstreach envelope 22, etc.). The worker 18 may positions themselves at theparticular location 16 (e.g., a location to be tested for reachabilityof the various points of interest 14) and point the reach and placementtool 100 at one of the points of interest 14 (e.g., the first point ofinterest 14 a). The reach and placement tool 100 may identify a distancebetween the particular location 16 and the first point of interest 14 aand also detect a particular orientation.

In some embodiments, the reach and placement tool 100 converts thedistance and the orientation to polar coordinates. The reach andplacement tool 100 can use the distance at the particular orientation todetermine if the first point of interest 14 a is within the first reachenvelope 22, within the second envelope 20, or outside of the firstreach envelope 22 (e.g., to determine if the first point of interest 14a is reachable from the particular location 16). If the first point ofinterest 14 a is within the second reach envelope 20, the reach andplacement tool 100 can notify the worker 18 that the first point ofinterest 14 a is reachable by the particular model of the reachapparatus. If the first point of interest 14 a is within the first reachenvelope 22 but not within the second reach envelope 20, the reach andplacement tool 100 can notify the worker 18 that the first point ofinterest 14 a is within the first reach envelope 22 but not within thesecond reach envelope 20. If the first point of interest 14 a is outsideof the first reach envelope 22, the reach and placement tool 100 cannotify the worker 18 that the first point of interest 14 a is notreachable by the particular model of the reach apparatus.

The worker 18 may repeat this procedure for each of the points ofinterest 14 a-14 d. As shown in FIG. 1, the first point of interest 14 ais at the second reach envelope 20 and is therefore reachable by theparticular model of the reach apparatus. Similarly, the second point ofinterest 14 b and the third point of interest 14 c are reachable by theparticular model of the reach apparatus since the second point ofinterest 14 b and the third point of interest 14 c are within the secondreach envelope 20. However, the fourth point of interest 14 d is outsideof the second reach envelope 20, but within the first reach envelope 22.The fourth point of interest 14 d may therefore be unreachable by theparticular model of the reach apparatus and the reach and placement tool100 can notify the worker as such.

The reach and placement tool 100 can use sensor data from distancesensors and orientation sensors to generate different polar coordinatesof each of the points of interest 14. In some embodiments, the worker 18can aim (e.g., point towards, direct towards, etc.) the reach andplacement tool 100 at different points of interest 14, and record acoordinate point (e.g., a polar coordinate) for different points ofinterest 14 (e.g., by pressing a button to capture current distance andorientation data). In some embodiments, the reach and placement tool 100reports in real-time if a captured coordinate point (e.g., a point ofinterest 14 at which the reach and placement tool 100 is directed) iswithin a reach of a currently selected or loaded model of a reachapparatus in real-time (e.g., through operation of an alert lightaccording to different colors, through operation of an aural alertdevice, through operation of a user interface or a display screen,etc.). In some embodiments, the reach and placement tool 100 can be usedby the worker 18 to capture coordinates (e.g., polar coordinates) ofmultiple points of interest 14 relative to the particular location 16.In some embodiments, the reach and placement tool 100 can provide asummary or a display graphic of each of the coordinates of the multiplepoints of interest 14, indicating which of the multiple points ofinterest 14 are within range. The worker 18 may view such summary ordisplay graphic after capturing the coordinates of the multiple pointsof interest 14. The worker 18 may also assign names or tags to thedifferent coordinates of the multiple points of interest 14 tofacilitate the review of the summary or the display graphic.

It should be understood that different reach envelopes associated withdifferent reach apparatuses can be selected by the worker 18 or loadedonto the reach and placement tool 100. For example, the worker 18 maycapture different coordinates of multiple points of interest 14 andidentify which models of reach apparatuses are able to reach the pointsof interest 14. In this way, the reach and placement tool 100 can beused by the worker 18 for proper selection of a model or type of reachapparatus. The reach and placement tool 100 can also be used todetermine if the particular location 16 should be adjusted. For example,if the reach and placement tool 100 determines that one or more of thepoints of interest 14 are unreachable by a particular reach apparatus,but the worker 18 desires to use the particular reach apparatus, theworker 18 may move to a new location (e.g., closer to the points ofinterest 14) to identify if the points of interest 14 can be reachedfrom the new location. In this way, the reach and placement tool 100 canbe used by the worker 18 to determine a proper placement of theparticular reach apparatus without requiring actual placement of theparticular reach apparatus.

Polar Coordinate System

According to an exemplary embodiment, as shown in FIGS. 2-3, the reachand placement tool 100 can use a polar coordinate system to determinewhich of the points of interest 14 are within reach of a reachapparatus. As shown in FIG. 2, a polar coordinate system 200 that isusable by the reach and placement tool 100 includes an origin 202, avertical axis 206, and a horizontal axis 204. The origin 202 may be theparticular location 16 at which various polar coordinates are captured.

The polar coordinate system 200 also includes multiple polarcoordinates, p₁, p₂, p₃, and p₄. Each polar coordinate p_(n) includes acorresponding radius r_(n) extending from the origin 202 to the polarcoordinate p_(n) and at least one corresponding angle θ_(n) extendingbetween one of the axes 204 or 206 and the corresponding radius r_(n).In some embodiments, the polar coordinates p₁, p₂, p₃, and p₄ areexpressed as polar vectors (e.g., {right arrow over (v₁)}, {right arrowover (v₂)}, {right arrow over (v₃)}, and {right arrow over (v₄)})including a radius (e.g., a scalar quantity r₁, r₂, r₃, and r₄) and oneor more corresponding angles (e.g., θ_(1,x), θ_(2,x), θ_(3,x), andθ_(4,x) and/or θ_(1,y), θ_(2,y), θ_(3,y), and θ_(4,y)). In this way, thepolar coordinates p_(n) can be expressed as spherical coordinates, polarcoordinates, Cartesian coordinates, etc. It should be understood thatwhile FIGS. 2-3 show the polar coordinates p_(n) in a two-dimensionalcoordinate system, each including a radius r_(n) and an angle θ_(n), thepolar coordinates p_(n) can be expressed in a three-dimensionalcoordinate system as three-dimensional polar coordinates, sphericalcoordinates, cylindrical coordinates, Cartesian coordinates, etc.

Referring particularly to the polar coordinate system 200 of FIG. 2, thepolar coordinates p₁, p₂, p₃, and p₄ may each correspond to a differentpoint of interest 14. For example, the first polar coordinate p₁includes a corresponding radius r₁ and a corresponding angle θ₁ and mayprovide a polar coordinate representation of a first point of interest(e.g., the first point of interest 14 a) relative to the origin 202(e.g., relative to a particular location such as the particular location16). Similarly, the second polar coordinate p₂ includes a correspondingradius r₂ and a corresponding angle θ₂ and may provide a polarcoordinate representation of a second point of interest (e.g., thesecond point of interest 14 b) relative to the origin 202 (e.g.,relative to a particular location such as the particular location 16).The third polar coordinate p₃ includes a corresponding radius r₃ and acorresponding angle θ₃ and may provide a polar coordinate representationof a third point of interest (e.g., the third point of interest 14 c)relative to the origin 202 (e.g., relative to a particular location suchas the particular location 16). The fourth polar coordinate p₄ includesa corresponding radius r₄ and a corresponding angle θ₄ and may provide apolar coordinate representation of a fourth point of interest (e.g., thefourth point of interest 14 d) relative to the origin 202 (e.g.,relative to a particular location such as the particular location 16).

In some embodiments, values of the radii r₁, r₂, r₃, and r₄ are obtainedfrom a distance sensor (e.g., lasers 106) of the reach and placementtool 100, and values of the angles θ₁, θ₂, θ₃, and θ₄ are obtained froman orientation sensor (e.g., a gyroscope, accelerometers, orientationsensor 116, etc.) of the reach and placement tool 100. For example, theradius r₁ and the angle θ₁ of the first polar coordinate p₁ may beobtained by the reach and placement tool 100 when the reach andplacement tool 100 is directed towards a first point of interest (e.g.,the first point of interest 14 a). Similarly, the radius r₂ and theangle θ₂ of the second polar coordinate p₂, the radius r₃ and the angleθ₃ of the third polar coordinate p₃, and the radius r₄ and the angle θ₄of the fourth polar coordinate p₄ may be obtained by the reach andplacement tool 100 when the reach and placement tool 100 is directedtowards a second point of interest (e.g., the second point of interest14 b), a third point of interest (e.g., the third point of interest 14c) and a fourth point of interest 14 d (e.g., the fourth point ofinterest 14 d), respectively. In some embodiments, the first polarcoordinate p₁, the second polar coordinate p₂, the third polarcoordinate p₃, and the fourth polar coordinate p₄ or the componentsthereof (e.g., the radius r_(n) and the angle θ_(n)) are obtained bysuccessively pointing the reach and placement tool 100 towards differentpoints of interest and pressing a button to record the polar coordinateswhile the reach and placement tool 100 is pointed at each of thedifferent points of interest.

Referring still to FIG. 2, the polar coordinate system 200 includes afirst reach envelope 208, and a second reach envelope 210. In someembodiments, the first reach envelope 208 is an outer reach limit of aselected model of a reach apparatus. In some embodiments, the secondreach envelope 210 is a portion of the first reach envelope 208. Forexample, the second reach envelope 210 may be 60% of the first reachenvelope 208, 70% of the first reach envelope 208, etc., or any otherportion of the first reach envelope 208 thereof. In some embodiments,the first reach envelope 208 is a polar equation having the formr₁=f(θ). Similarly, the second reach envelope 210 can also be expressedas a polar equation having the form r₂=xf(θ) where f(θ) is the polarequation of the first reach envelope 208 and x is a predeterminednormalized amount (e.g., a value between 0 and 1). For example, if thesecond reach envelope 210 is 60% of the first reach envelope 208, thepredetermined normalized amount x may have a value of 0.6.

The first reach envelope 208 and the second reach envelope 210 candefine one or more regions in the polar coordinate system 200. Forexample, an area outside of the first reach envelope 208, shown as firstregion 212 may indicate locations that are unreachable by the selectedreach apparatus. An area between the first reach envelope 208 and thesecond reach envelope 210 may indicate locations that are unreachable bythe selected reach apparatus within a restricted capacity of the reachapparatus (e.g., locations that are outside of the second reach envelope210 but within the first reach envelope 208), shown as second region214. An area within the second reach envelope 210 may indicate locationsthat are reachable by the selected reach apparatus within the restrictedcapacity of the selected reach apparatus (e.g., locations that arewithin the second reach envelope 210), shown as third region 216.

The reach and placement tool 100 can use the polar equations of thefirst reach envelope 208 and the second reach envelope 210 to determinewhich of the polar coordinates p_(n) are within range. For example, ifthe first polar coordinate p₁ is measured at an angle θ₁, the reach andplacement tool 100 can estimate a corresponding radius value of thesecond envelope 210 at the angle θ₁. The reach and placement tool 100can then compare the corresponding radius value of the second envelope210 at the angle θ₁ to the radius r₁ of the first polar coordinate p₁.If the corresponding radius value of the second envelope 210 at theangle θ₁ is greater than or equal to the radius r₁ of the first polarcoordinate p₁, the reach and placement tool 100 can determine that thefirst location of interest (corresponding to the first polar coordinatep₁) is within the second envelope 210. If the corresponding radius valueof the second envelope 210 at the angle θ₁ is less than the radius r₁ ofthe first polar coordinate p₁, but the radius r₁ of the first polarcoordinate p₁ is less than or equal to a corresponding radius value ofthe first envelope 208 at the angle θ₁ (e.g., r₁(θ₁)), then the reachand placement tool 100 can determine that the first point of interest iswithin the second region 214. Finally, if the reach and placement tool100 determines that the radius r₁ of the first polar coordinate p₁ isgreater than a corresponding radius value of the first reach envelope208 at the angle θ₁, the reach and placement tool 100 may determine thatthe first polar coordinate p₁ is in the first region 212 and isunreachable by the selected reach apparatus.

The reach and placement tool 100 can perform this functionality for eachof the different polar coordinates p₁, p₂, p₃, and p₄. For example, thereach and placement tool 100 may identify that the fourth polarcoordinate p₄ is in the first region, that the first polar coordinate p₁is in the second region 214, and that the second and third polarcoordinates p₂ and p₃ are within the third region 216. In someembodiments, the reach and placement tool 100 performs such analysis inreal-time or near real-time as data for the polar coordinates areobtained. For example, when the reach and placement tool 100 obtains thefirst polar coordinate p₁, the reach and placement tool 100 may performthe functionality described herein, and notify the worker 18 regardingwhich of the regions 212-216 the first polar coordinate p₁ and thereforethe first point of interest, is within. The reach and placement tool 100may similarly perform this functionality in real-time as data for eachsubsequent polar coordinate is obtained.

Referring now to FIG. 3, a polar coordinate system 300 is shown,according to another exemplary embodiment. The polar coordinate system300 is the same as the polar coordinate system 200 but includesdifferent envelopes. As shown in FIG. 3, the polar coordinate system 300includes a first envelope 308 that is different than the first envelope208, and a second envelope 310 that is different than the secondenvelope 210. While the first envelope 208 and the second envelope 210shown in FIG. 2 are circular, the first envelope 308 and the secondenvelope 310 shown in FIG. 3 are non-circular. As shown in FIGS. 2-3,the first envelopes 208 and 308, and the second envelopes 210 and 310may be circular or non-circular, depending on which model of reachapparatus is selected.

Reach and Placement Tool

Referring now to FIGS. 4-6, the reach and placement tool 100 includes abody 102, a pair of lasers 106, and a user interface 114. In someembodiments, the lasers 106 are range-finding lasers configured to. Thereach and placement tool 100 also includes an orientation sensor 116(e.g., an accelerometer, a gyroscope, an inclinometer, etc.) and aneyepiece 104. The reach and placement tool 100 also includes a lens 118or multiple lenses (e.g., a scope, a laser scope, etc.). When a workerlooks through the eyepiece 104, the worker may be able to viewsurrounding landscapes and points of interest through the eyepiece 104and the lens 118. The lens 118 can also include a laser point that isviewable by the worker through the eyepiece 104 that indicates a pointthat the reach and placement tool 100 is pointed at or directed towards.

The eyepiece 104 may be positioned on a rear 110 of the body 102 or ofthe reach and placement tool 100. The lens 118 and the laser 106 arepositioned on a front 108 of the body 102 or of the reach and placementtool 100. The user interface 114 can be positioned on a side of the body102. The user interface 114 includes a display screen 112 and one ormore input buttons 120. The one or more buttons may include navigationbuttons (e.g., an up button and a down button), a menu button, and aselect button. In other embodiments, the reach and placement tool 100 isconfigured to communicate with a personal computer device (e.g., asmartphone) via a wireless communications protocol (e.g., Bluetooth).The worker may connect their personal computer device with the reach andplacement tool 100 and operate the reach and placement tool 100 via thepersonal computer device.

The reach and placement tool 100 can also include an aural alert device122 (e.g., a speaker) that is configured to provide auditory or auralalerts to the worker 18. The auditory or aural alerts can indicatewhether a current point of interest (e.g., a point of interest towardswhich the reach and placement tool 100 is directed or pointed) is withinrange.

Referring still to FIGS. 4-6, the reach and placement tool 100 includesa controller 150 that is configured to perform various functionality ofthe reach and placement tool 100. The controller 150 and the orientationsensor 116 are positioned within the body 102. Referring particularly toFIG. 6, the controller 150 includes processing circuitry 602 including aprocessor 604 and memory 606. Processor 604 may be a general purpose orspecific purpose processor, an application specific integrated circuit(ASIC), one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable processing components.Processor 604 may be configured to execute computer code or instructionsstored in memory 606 or received from other computer readable media(e.g., CDROM, network storage, a remote server, etc.).

Memory 606 may include one or more devices (e.g., memory units, memorydevices, storage devices, etc.) for storing data and/or computer codefor completing and/or facilitating the various processes described inthe present disclosure. Memory 606 may include random access memory(RAM), read-only memory (ROM), hard drive storage, temporary storage,non-volatile memory, flash memory, optical memory, or any other suitablememory for storing software objects and/or computer instructions. Memory606 may include database components, object code components, scriptcomponents, or any other type of information structure for supportingthe various activities and information structures described in thepresent disclosure. Memory 606 may be communicably connected toprocessor 604 via processing circuitry 602 and may include computer codefor executing (e.g., by processor 604) one or more processes describedherein.

As shown in FIG. 6, the controller 150 can communicate with any of theinput buttons 120, the display screen 112, the aural alert devices 122,the orientation sensor 116, and the lasers 106. For example, thecontroller 150 can receive a user input from the input buttons 120indicating a selected model, a type of reach apparatus, a command tocapture data regarding a point of interests towards which the reach andplacement tool 100 is currently directed, etc. The controller 150 canprovide display data to the display screen 112 (e.g., indicating if oneor more points of interest are within range). The controller 150 canprovide aural alert signal(s) to the aural alert devices 122 so that theaural alert devices 122 operate to provide an auditory alert (e.g., asound, a noise, a tone, etc.) to the worker 18 (e.g., to indicate if apoint of interest is within range or not). The controller 150 can obtaina detected orientation from the orientation sensor 116 and a detecteddistance from the lasers 106.

As shown in FIG. 6, the memory 606 includes an envelope database 608, acoordinate manager 610, a range manager 612, and an output manager 614,according to an exemplary embodiment. The envelope database 608 isconfigured to store different sets of polar equations or envelopes(e.g., envelopes 308 and 310, envelopes 208 and 210, similar envelopes,etc.) for different reach apparatuses, different models of reachapparatuses, mobile elevated work platforms, etc. When the controller150 receives a selected reach apparatus or a selected model of a reachapparatus, the controller (e.g., the range manager 612) may retrieve oneor more envelopes or equations of envelopes from the envelope database608. The envelopes may be 2 dimensional or 3 dimensional envelopes andcan be expressed in polar equations (e.g., including a radius as afunction of one or two angles).

The coordinate manager 610 is configured to obtain the detected distancefrom the lasers 106 and the detected orientation from the orientationsensor 116 to generate a coordinate (e.g., a polar coordinate) regardinga first point of interest. The coordinate manager 610 may receive thedetected distance and the detected orientation from the lasers 106 andthe orientation sensor 116 in real-time. In some embodiments, thecontroller 150 operates in real-time. In other embodiments, thecoordinate manager 610 captures the detected distance from the lasers106 and the detected orientation from the orientation sensor 116 whenthe worker 18 presses a button (e.g., when a user input is received).The coordinate manager 610 may use the detected distance obtained fromthe lasers 106 and the detected orientation from the orientation sensor116 to generate radius r values and angle values (e.g., θ₁ and θ₂) thatdefine the polar coordinate of a particular point of interest (e.g.,which the reach and placement tool 100 is currently directed towards).The coordinate manager 610 may perform such operations for each ofmultiple points of interest to generate multiple polar coordinates.

The range manager 612 is configured to obtain the polar coordinates fromthe coordinate manager 610 and the envelopes from the envelope database608 for the particular reach apparatus (or model thereof) and determineif the points of interest represented by the polar coordinates arewithin range (e.g., within the envelopes). The range manager 612 mayobtain multiple envelopes (e.g., an absolute reach envelope, 60% of theabsolute reach envelope, etc.) and determine if a current point ofinterest towards which the reach and placement tool 100 is directed iswithin range. The range manager 612 may perform such operations inreal-time (e.g., while the reach and placement tool 100 is directedtowards a point of interest) or may perform such operations for each ofmultiple coordinates after multiple polar coordinates have beenobtained. The range manager 612 may use equations of the envelopes(e.g., polar equations) to evaluate a radius value at the orientation ofa particular polar coordinate or point of interest. The range manager612 can then compare the detected distance (e.g., the radius of thepolar coordinate of the point of interest) to the radius of the envelopeat the particular orientation. If the detected distance is less than theradius of the envelope (or less than a radius of a 60% envelope), therange manager 612 may determine that the polar coordinate or the pointof interest represented thereof is reachable by the reach apparatus. Ifthe detected distance is greater than the radius of the envelope at thedetected orientation, the range manager 612 may determine that the polarcoordinate or the point of interest represented thereof by the polarcoordinate is not reachable by the reach apparatus.

The output manager 614 is configured to generate the display data fromthe display screen 112 and/or the aural alert signal(s) for the auralalert devices 122. The output manager 614 can generate display data forthe display screen 112 to notify the worker 18 regarding whether or nota current point of interest (e.g., a point of interest towards which thereach and placement tool 100 is currently directed) is reachable by thereach apparatus, and/or which of multiple points of interest arereachable by the reach apparatus. The display data can include agraphical representation (e.g., a 2d graphical representation, a 3dgraphical representation, etc.) of the envelope of the reach apparatusand one or more polar coordinates that represent different points ofinterest. The graphical representation can provide a graphicalrepresentation of which of the points of interest are reachable by thereach apparatus. The output manager 614 may also operate the aural alertdevices (e.g., by generating and providing aural alert signal(s) to theaural alert devices 122) to notify the worker 18 regarding whether ornot a current point of interest (e.g., a point of interest towards whichthe reach and placement tool 100 is currently directed) is within rangeof the reach apparatus.

Process

Referring now to FIG. 7, a process 700 for determining if a reachapparatus can reach one or more points of interest is shown, accordingto an exemplary embodiment. The process 700 includes steps 702-722 andcan be performed by the reach and placement tool 100 and the worker 18that operates the reach and placement tool 100. Advantageously, theprocess 700 facilitates determining if one or more points of interest ata work site can be reached by a reach apparatus from a particularlocation before the reach apparatus is placed at the particularlocation.

Process 700 includes providing a system including one or more points ofinterest and a reach and placement tool (step 702) at a particularlocation. The system may be the reach and placement system 10 as shownin FIG. 1 and described in greater detail above with reference toFIG. 1. The one or more points of interest may be locations or places ata worksite (e.g., a location on scaffolding of a building, an elevatedlocation, etc.). The reach and placement tool can be the reach andplacement tool 100 as described herein and above.

Process 700 includes directing the reach and placement towards a k^(th)point of interest (step 704). Step 704 can be performed by the worker 18using the reach and placement tool 100. For example, the worker 18 maylook through the eyepiece 104 to facilitate directing the reach andplacement tool 100 towards the k^(th) point of interest (e.g., a firstpoint of interest). Variable k is a counter for ease of description,that can be assumed to initially have a value of one. The worker 18 maystand at the particular location and point the reach and placement tool100 towards the k^(th) point of interest to perform step 704.

Process 700 includes recording a distance r from the reach and placementtool and the k^(th) point of interest and an orientation of the reachand placement tool (step 706). Step 706 can be performed by the reachand placement tool 100 by recording a detected orientation (e.g., asdetected by the orientation sensor 116) and recording a detecteddistance (e.g., as detected by the lasers 106). Step 706 can beperformed in response to the worker 18 pressing a button or otherwiseindicating that the reach and placement tool 100 is currently directedtowards the k^(th) point of interest.

Process 700 includes determining a polar coordinate of the k^(th) pointof interest (step 708). Step 708 can be performed by coordinate manager610 using the recorded distance r and the orientation of the reach andplacement tool. The polar coordinate may be a two-dimensional polarcoordinate (e.g., including a radius and a single angle) or athree-dimensional polar coordinate (e.g., including a radius and twoangles). The k^(th) point of interest may also be represented as aspherical coordinate, a cylindrical coordinate, a Cartesian coordinate,etc. The polar coordinate generally represents a distance and angularorientation of the k^(th) point of interest relative to the particularlocation at which the reach and placement tool 100 is located.

Process 700 includes determining if the polar coordinate of the kthpoint of interest is within range of a selected reach apparatus (step710). Step 710 can be performed by retrieving a reach envelope from adatabase (e.g., from envelope database 608) for a particular reachapparatus or a particular model of reach apparatus that is selected bythe worker 18. Step 710 can be performed by the coordinate manager 610and the range manager 612 using the detected distance and the detectedorientation in combination with an envelope obtained from the envelopedatabase 608.

Process 700 includes determining if the polar coordinate is within range(step 712). Step 712 may be optional and can be performed in response tostep 710. If the polar coordinate is not within range (step 712, “NO”),process 700 may proceed to step 714. If the polar coordinate is withinrange (step 712, “YES”), process 700 may proceed to step 716. Step 712can be performed by range manager 612 by comparing a radius of anenvelope for a corresponding orientation to the detected distance or theradius of the polar coordinate relative to an origin of a polarcoordinate system.

Process 700 includes providing a visual and/or an aural alert to a user(step 714) in response to the polar coordinate not being within range(step 712, “NO”). Step 714 can be performed by the output manager 614 bygenerating display data for the display screen 112 and by generatingaural alert signal(s) for the aural alert devices 122 and providing thedisplay data and the aural alert signal(s) to the display screen 112 andthe aural alert devices 122. Steps 712 and 714 can be performed inreal-time to provide real-time notifications to the worker 18 regardingwhether or not the point of interest that the worker 18 is currentlydirecting the reach and placement tool 100 towards is reachable. In thisway, the worker 18 can be notified in real-time by the reach andplacement tool 100 regarding reachability of the various points ofinterest.

Process 700 includes determining if additional points of interest arerequired (step 716) and returning to step 704 (step 716, “YES”) ifadditional points of interest are required. As process 700 returns tostep 704, the counter k may be incremented by one (step 718). Steps704-714 may then be repeated until all points of interest have beenscanned (step 716, “NO”).

Process 700 includes generating display data regarding which of thepoints of interest are within range and which points of the points ofinterest are out of range (step 720). Step 720 can be performed by theoutput manager 614 based on the results of step 710 for each of thecaptured coordinates (e.g., each coordinate corresponding to a differentpoint of interest). The display data can include graphicalrepresentations of the one or more points of interest or polarcoordinates and a graphical representation of one or more envelopes on apolar coordinate system. The display data can include a visualrepresentation of which of the points of interest are within range andwhich of the points of interest are out of range.

Process 700 includes operating a display screen of the reach andplacement tool to display the display data (step 722). Step 722 can beperformed by the output manager 614 and the display screen 112. Step 722may be performed so that the worker 18 can view the display screen 112and determine if the reach apparatus can be placed at the particularlocation to reach all points, or if process 700 should be repeated usingthe reach and placement tool 100 at a different location (e.g., at acloser location). The worker 18 may also view the envelopes of differentreach apparatuses with the points of interest to determine if differentequipment can reach the points of interest from the particular location.

Alternative Control Architectures

Referring now to FIGS. 8-10, various control architectures orinfrastructures of the reach and placement system 10 are shown,according to different embodiments. It should be understood that whileFIGS. 1-7 describe the functionality of the reach and placement system10 implemented locally at a handheld device such as the reach andplacement tool 100 (e.g., or the controller 150 thereof), variousfunctionality, techniques, steps, etc., described herein can beimplemented across multiple devices, systems, processing units,processors, circuitry, etc., and the above description should not beunderstood as limiting.

Referring FIGS. 8-10, the reach and placement tool 100 can include awireless transceiver 152. The wireless transceiver 152 can be configuredto facilitate wireless communication between the reach and placementtool 100 and an external device via Bluetooth, LoRa, Zigbee, WiFicommunications, cellular communications, radio communications, etc.Referring particularly to FIG. 8, the reach and placement tool 100 isconfigured to communicate with a smartphone or personal computer device802 using the wireless transceiver 152. The reach and placement tool 100may transmit or provide any distance or orientation data (e.g.,measurements, sensor data, etc.) that is obtained by the reach andplacement tool 100. For example, the reach and placement tool 100 maywirelessly transmit (using the wireless transceiver 152) any sensor dataobtained from the reach and placement tool 100 to the personal computerdevice 802. The personal computer device 802 can include processingcircuitry, a processor, memory, etc., similar to or the same as thecontroller 150 described in greater detail above with reference to FIG.6. The personal computer device 802 obtains any of the sensor data fromthe reach and placement tool 100 (e.g., the distance and orientationdata) and can be configured to perform any of the functionality of thecontroller 150 as described in greater detail above with reference toFIG. 6. For example, the personal computer device 802 may be configuredto perform any of the functionality of the envelope database 608, thecoordinate manager 610, the range manager 612, and/or the output manager614. The personal computer device 802 may be configured to provide pointor polar coordinates, display data, etc., that is determined based onthe distance and orientation data to the reach and placement tool 100.In this way, the reach and placement tool 100 can function as arangefinder device for obtaining distance and orientation data, and thepersonal computer device 802 can be configured to analyze or process thedistance and orientation data provided by the reach and placement tool100. The personal computer device 802 may be a smartphone of the worker18.

Referring to FIG. 9, the reach and placement tool 100 may alternativelyprovide the distance and orientation data to a cloud computing system902. The reach and placement tool 100 can provide the distance andorientation data to the cloud computing system 902 using the wirelesstransceiver 152. In other embodiments, the reach and placement tool 100is configured to provide the distance and orientation data to thepersonal computer device 802 which is configured to relay the distanceand orientation data to the cloud computing system 902. In otherembodiments, the personal computer device 802 is configured to determinepoint coordinates, display data, etc., using the functionality of thecontroller 150 described in greater detail above with reference to FIG.6 and provide the point coordinates of various locations or points ofinterest, the display data, etc., to both the reach and placement tool100 and the cloud computing system 902.

Referring still to FIG. 9, the cloud computing system 902 can includeprocessing circuitry, memory, processors, etc., that are positioned at asingle remote device (e.g., a network device, a device connected to theInternet, etc.) or at multiple distributed devices (e.g., multiplenetwork devices, multiple devices with Internet connectivity, a server,etc.). The cloud computing system 902 can be configured to perform thefunctionality of the controller 150 as described in greater detail abovewith reference to FIG. 6. More specifically, the cloud computing system902 can be configured to perform any of the functionality of theenvelope database 608, the coordinate manager 610, the range manager612, and/or the output manager 614 as described in greater detail abovewith reference to FIG. 6. In this way, the reach and placement tool 100can be configured as a sensor unit or a rangefinder that uploadsmeasurements or results to the cloud computing system 902 for furtherprocessing and analysis (e.g., to generate the point coordinates, thedisplay data, etc.). The point coordinates or display data can beprovided from the cloud computing system 902 to the reach and placementtool 100 and/or the smartphone 802 for display.

Referring now to FIG. 10, in another embodiment, the reach and placementtool 100 functions as a rangefinder or sensing device to obtainmeasurements (e.g., the distance and orientation data) and provides themeasurements to a control system 1004 of mobile equipment 1002. Themobile equipment 1002 can be a cherry picker, a telehandler, an MEWP,etc. The control system 1004 of the mobile equipment 1002 can include acontroller 1006. The controller 1006 may be structurally similar to thecontroller 150 as described in greater detail above with reference toFIG. 6 and may include processing circuitry, a processor, memory, etc.The controller 1006 of the mobile equipment 1002 can be configured toperform any of the functionality of the controller 150 as described ingreater detail above with reference to FIG. 6 using the distance andorientation data provided by the reach and placement tool 100. Thecontroller 1006 may generate display data using the distance andorientation data (e.g., indicating which of several points of interestare reachable by the mobile equipment 1002) which can be provided on ordisplayed on a display screen 1008 or the mobile equipment 1002. Thedisplay screen 1008 of the mobile equipment 1002 may be a graphical userinterface that is positioned at any of a platform of the mobileequipment 1002, a ground control station of the mobile equipment 1002, avehicle cab of the mobile equipment 1002, or a personal computing deviceor a remote controller of the mobile equipment 1002 or an operator ofthe mobile equipment 1002 (e.g., the personal computer device 802).

It should be understood that the reach and placement tool 100 may beconfigured to provide the distance and orientation data (e.g.,measurements or sensor data obtained by the lasers 106 and/or theorientation sensor 116) to any of the personal computer device 802, thecloud computing system 902, the mobile equipment 1002, etc., wirelesslyusing the wireless transceiver 152. The mobile equipment 1002, the cloudcomputing system 902, and the personal computer device 802 can beconfigured to communicate any of the distance and orientation data, thepoint coordinates or display data, etc., among each other.

Range and Position Determination System Boom Lift

As shown in FIG. 11, a vehicle 1100 includes a chassis, shown as frame1102, and a plurality of tractive elements, shown as wheel and tireassemblies 1106. In other embodiments, the tractive elements includetrack elements. According to the exemplary embodiment shown in FIG. 11,the vehicle 1100 is configured as a lift device or machine. As shown inFIG. 11, the lift device or machine is configured as a boom lift. Inother embodiments, the lift device or machine is configured as askid-loader, a telehandler, a scissor lift, a fork lift, and/or stillanother lift device or machine. As shown in FIG. 11, the frame 1102supports a rotatable structure, shown as turntable 1200, and a boomassembly, shown as boom 1210. According to an exemplary embodiment, theturntable 1200 is rotatable relative to the frame 1102. According to anexemplary embodiment, the turntable 1200 includes a counterweightpositioned at a rear of the turntable 1200. In other embodiments, thecounterweight is otherwise positioned and/or at least a portion of theweight thereof is otherwise distributed throughout the vehicle 1100(e.g., on the frame 1102, on a portion of the boom 1210, etc.).

As shown in FIG. 11, the boom 1210 includes a first boom section, shownas lower boom 1212, and a second boom section, shown as upper boom 1214.In other embodiments, the boom 1210 includes a different number and/orarrangement of boom sections (e.g., one, three, etc.). According to anexemplary embodiment, the boom 1210 is an articulating boom assembly. Inone embodiment, the upper boom 1214 is shorter in length than lower boom1212. In other embodiments, the upper boom 1214 is longer in length thanthe lower boom 1212. According to another exemplary embodiment, the boom1210 is a telescopic, articulating boom assembly. By way of example, theupper boom 1214 and/or the lower boom 1212 may include a plurality oftelescoping boom sections that are configured to extend and retractalong a longitudinal centerline thereof to selectively increase anddecrease a length of the boom 1210.

As shown in FIG. 11, the lower boom 1212 has a lower end pivotallycoupled (e.g., pinned, etc.) to the turntable 1200 at a joint or lowerboom pivot point. The boom 1210 includes a first actuator (e.g.,pneumatic cylinder, electric actuator, hydraulic cylinder, etc.), shownas lower lift cylinder 1220. The lower lift cylinder 1220 has a firstend coupled to the turntable 1200 and an opposing second end coupled tothe lower boom 1212. According to an exemplary embodiment, the lowerlift cylinder 1220 is positioned to raise and lower the lower boom 1212relative to the turntable 1200 about the lower boom pivot point.

As shown in FIG. 11, the upper boom 1214 has a lower end pivotallycoupled (e.g., pinned, etc.) to an upper end of the lower boom 1212 at ajoint or upper boom pivot point. The boom 1210 includes an implement,shown as platform assembly 1216, coupled to an upper end of the upperboom 1214 with an extension arm, shown as jib arm 1218. In someembodiments, the jib arm 1218 is configured to facilitate pivoting theplatform assembly 1216 about a lateral axis (e.g., pivot the platformassembly 1216 up and down, etc.). In some embodiments, the jib arm 1218is configured to facilitate pivoting the platform assembly 1216 about avertical axis (e.g., pivot the platform assembly 1216 left and right,etc.). In some embodiments, the jib arm 1218 is configured to facilitateextending and retracting the platform assembly 1216 relative to theupper boom 1214. As shown in FIG. 11, the boom 1210 includes a secondactuator (e.g., pneumatic cylinder, electric actuator, hydrauliccylinder, etc.), shown as upper lift cylinder 1222. According to anexemplary embodiment, the upper lift cylinder 1222 is positioned toactuate (e.g., lift, rotate, elevate, etc.) the upper boom 1214 and theplatform assembly 1216 relative to the lower boom 1212 about the upperboom pivot point.

According to an exemplary embodiment, the platform assembly 1216 is astructure that is particularly configured to support one or moreworkers. In some embodiments, the platform assembly 1216 includes anaccessory or tool configured for use by a worker. Such tools may includepneumatic tools (e.g., impact wrench, airbrush, nail gun, ratchet,etc.), plasma cutters, welders, spotlights, etc. In some embodiments,the platform assembly 1216 includes a control panel (e.g., a userinterface, a removable or detachable control panel, etc.) to controloperation of the vehicle 1100 (e.g., the turntable 1200, the boom 1210,etc.) from the platform assembly 1216 and/or remotely therefrom. In someembodiments, the control panel is additionally or alternatively coupled(e.g., detachably coupled, etc.) to the frame 1102 and/or the turntable1200. In other embodiments, the platform assembly 1216 includes or isreplaced with an accessory and/or tool (e.g., forklift forks, etc.).

The reach and placement system 10 can be implemented for use with thevehicle 1100 as described herein with reference to FIG. 11, or any ofthe vehicles 1100 as described in greater detail below with reference toFIGS. 35-42. For example, the reach and placement system 10 can be usedto determine if the vehicle 1100 can reach any of the points of interest14 with the boom 1210 prior to positioning and use of the vehicle 1100.In some embodiments, the reach and placement tool 100 stores models ofany of the vehicles 1100 (e.g., a boom lift, an articulated reach arm, arefuse vehicle, etc.) described herein with reference to FIGS. 35-42 todetermine if the vehicle 1100 can reach a desired location.

First Implementation

As shown in FIG. 12, the boom lift 1100 equipped with a range andposition determination system 1300 is positioned adjacent a building1304. A user positioned on the platform assembly 1216 identifies adesired position 1308 on the building using the range and positiondetermination system 1300. In some embodiments, the range and positiondetermination system 1300 is a hand held unit tethered or mounted to theplatform assembly 1216. In some embodiments, the range and positiondetermination system 1300 is tethered or mounted to the frame 1102 ofthe boom lift 1100. In some embodiments, the range and positiondetermination system 1300 may include components that are not physicallytethered to the boom lift 1100 or that include programs or computingsolutions provided on a user device (e.g., a smart phone, tablet, etc.).

As shown in FIG. 13, once the range and position determination system1300 has received the desired position 1308, a determination is made inview of other inputs and a notification is provided to the userindicating that the desired position 1308 is acceptable, or that thedesired position 1308 is unacceptable. If the notification indicatesthat the desired position 1308 is acceptable, then the user is allowedto navigate the platform assembly 1216 of the boom lift 1100 to thedesired position 1308. In some embodiments, instructions can be providedfor navigation to the desired location 1308. Within the context of thisdisclosure, an “acceptable” desired position 1308 allows the platformassembly 1216 (or other lift device) to be moved to the desired location1308 while remaining within stability thresholds. An “unacceptable”desired location 1308 would place the platform assembly (or other liftdevice) outside stability thresholds. As will be discussed below,stability thresholds can include a number of inputs including payload ortotal weight of the platform assembly 1216 (or other lifting device)including all personnel and equipment, a reach distance (i.e., distancein an x-direction and a y-direction), and a lift distance (i.e.,distance in a z-direction).

As shown in FIG. 14, the range and position determination system 1300includes a base unit 1312 coupled to the chassis 1102 or the turntable1200, and an aiming unit 1316 positioned on the platform assembly 1216.The base unit 1312 is structured to define a Cartesian coordinate fieldincluding an x-axis, a y-axis, and a z-axis. The base unit 1312 canlocate the relative position of the aiming unit 1316 within theCartesian coordinate field using a beacon or sensor system (e.g., ultrawide-band position sensors, Bluetooth® beacons, or other sensors). Thedetermination of the relative position of the platform assembly 1216 isshown as line 1320. The base unit 1312 can also receive inputs for avehicle controller indicative of relative positions of the chassis 1102,the turntable 1200, the lower boom 1212, the upper boom 1214, the jibarm 1218, and/or the platform assembly 1216 that can be used inconjunction with the sensors of the base unit 1312 is determining anddefining a current position of the platform assembly 1216 relative tothe chassis 1102.

The aiming unit 1316 can be manipulated by the user and aimed at (e.g.,using an eyepiece or sight) a desired position 1308 from the platformassembly 1216. The line of sight from the aiming unit 1316 to thedesired position 1308 is shown as line 1324. The aiming unit 1316 isstructured to determine a Cartesian direction and a distance to thedesired position 1308 relative to the platform assembly 1216. The rangeand position determination system 1300 can then use the relativeposition of the platform assembly 1216 determined by the base unit 1312and the relative position of the desired position 1308 determined by theaiming unit 1316 to determine the relative position of the desiredposition 1308 with respect to the chassis 1102. The range and positiondetermination system 1300 can then determine if the desired position1308 is acceptable or unacceptable.

As shown in FIG. 15, the aiming unit 1316 of the range and positiondetermination system 1300 includes a cradle 1328 that is rigidly coupledto the platform assembly 1216, and a sighting device 1332 that ismovable relative to the cradle 1328 and includes a sensor arraystructured to determine the relative position of the desired position1308 with respect to the base 1328. In some embodiments, the cradle 1328communicates wirelessly or via a wired connection with the base unit1312 and the sighting device 1332 communicates wirelessly or via a wiredconnection with the cradle 1328. In some embodiments, the cradle 1328 isa physical mount for the sighting device 1332 but does not include anycontrol features (i.e., all the controls and communication is provideddirectly between the sighting device 1332 and the base unit 1312). Thecradle 1328 can be rigidly mounted to the platform assembly 1216 in afixed orientation allowing the sighting unit to be calibrated whileseated in the cradle 1328.

As shown in FIG. 16, the aiming unit 1316 includes the cradle 1328 andthe sighting device 1332. The sighting device 1332 includes a housing1336 that supports a sight lens 1340 through which a user can look andidentify the desired position 1308, a laser distance meter (LDM) 1344structured to determine a distance from the sighting device 1332 to thedesired position 1308, a inertial measurement unit (IMU) 1348 structuredto determine an orientation (e.g., a 6-axis IMU including a 3-axisaccelerometer and a 3-axis gyroscope) of the sighting device 1332relative to a calibration orientation defined by the cradle 1328, and ameasure button 1352 that allows a user to capture the desired position1308.

As shown in FIG. 17, use of the aiming unit 1316 includes setting acalibration or a zero position at State 1 with the sighting device 1332positioned within or engaged with the cradle 1328. In some embodiments,the sighting device 1332 includes a hall sensor, a magnet, or anotherdevice that can determine or confirm that the sighting device 1332 isfully mated with and aligned with the cradle 1328. The cradle 1328 canbe installed in a predetermined and fixed position that is known by therange and position determination system 1300 such that the calibrationor zero position of the sighting device 1332 is the same every time thesighting device 1332 is mated with the cradle 1328. For example, thepitch, yaw, and distance of the sighting device 1332 are all zerorelative to the platform assembly 1216 when the sighting device 1332 ismated with the cradle 1328.

At State 2, the user removes the sighting device 1332 from the cradle1328 and the range and position determination system 1300 activates.Activation includes providing power to the LDM 1344 and the IMU 1348 andany other sensors included in the sighting device 1332. Activation alsoincludes any background initiation and startup operations of the rangeand position determination system 1300 before measurements can be takenand determinations made.

At State 3, the user looks through the sight lens 1340 and identifiesthe desired position 1308. In some embodiments, the sight lens 1340includes a cross hairs or another sight. In some embodiments, the sightlens 1340 includes a visible light laser (e.g., a green laser, a redlaser, etc.) that can be seen by the user through the sight lens 1340and may aid in the identification of the desired position 1308.

At State 4, the user depresses the measure button 1352 and the LDM 1344and the IMU 1348 begin taking measurements including a distance to thedesired position 1308, a pitch angle (i.e., an angle relative to theplane defined by the x-axis and the y-axis), and a yaw angle (i.e., anangle about the z-axis). In some embodiments, the user has apredetermined amount of time to depress the measure button 1352 beforethe range and position determination system 1300 will enter a sleepstate and the process of determining the desired position 1308 must bestarted over from State 1.

At State 5, the measurements taken in State 4 via the sighting device1332 and any other inputs or information (e.g., a payload or totalweight of the platform assembly 1216) are sent to the base unit 1312. Insome embodiments, the sighting device 1332 communicates directly withthe base unit 1312. In some embodiments, the sighting device 1332communicates with the cradle 1328 and the cradle communicates with thebase unit 1312.

As shown in FIG. 18, in some embodiments, the information sent to thebase unit 1316 includes distance and orientation information of thesighting device 1332 relative to the cradle 1328. For example, thesighting device 1332 may be 3.4 feet away from the cradle, with a pitchof 10 degrees, and a yaw of 8 degrees. The overall distance, pitch, andyaw sent to the base unit 1316 may account for the distance, pitch, andyaw between the sighting device 1332 and the cradle 1328. For example,the distance from the cradle 1328, or the zero point, to the desiredposition 1308 may be 35.4 meters, at a pitch of 2.1 degrees, and a yawof 0.5 degrees. The pitch and yaw angle may be relative to a fixed axissystem defined by the cradle 1328. For example, the pitch and yaw mayboth be defined relative to the y-axis. FIG. 19 shows exemplary fixedaxis for the yaw of the range and position determination system 1300 andFIG. 20 shows exemplary fixed axis for the pitch of the range andposition determination system 1300.

As shown in FIG. 21, the aiming unit 1316 includes the sighting device1332 and the cradle 1328. The cradle 1328 includes a mounting bracket1356 and a carriage 1360 that together rigidly mount the cradle 1328 tothe platform assembly 1216. In some embodiments, the mounting bracket1356 and the carriage 1360 are fastened together about a component(e.g., a guard rail or mounting arm) of the platform assembly 1216 viacompression. In some embodiments, the mounting bracket 1356 is adhered,welded, or otherwise fixed to the platform assembly 1216, and thecarriage 1360 is fastened or engaged with the mounting bracket 1356. Thecradle 1328 also includes a magnet 1364 positioned within or on thecarriage 1360. An alignment feature in the form of a recess 1368 isformed in the carriage 1360 to provide easy engagement and alignment ofthe sighting device 1332 with the cradle 1328. In some embodiments, thesighting device 1332 enjoys a loose interference fit with the recess1368. In some embodiments, the alignment feature includes a protrusion,a slot, a hook and loop fastener, magnets, a ball detent, or anotheralignment features, as desired.

The sighting device 1332 includes the housing 1336, the sight lens 1340,the LDM 1344, the IMU 1348, and the measure button 1352. The sight lens1340 includes an eyepiece lens 1372 that can include a cross hairs oranother guide, a telescope 1376, and an objective lens 1380. In someembodiments, the magnification power of the sight lens 1340 is betweenabout 5× and about 10×. The LDM 1344 includes a receiver 1384 and atransmitter 1388 structured to send and receive laser energy todetermine a distance between the sighting device 1332 and the desiredposition 1308. In some embodiments, the range of the LDM 1344 is aboutone to one-hundred meters with an accuracy of about +/−0.5 meters. TheIMU 1348 is a chip or chipset, in some embodiments, that resides on aprinted circuit board assembly (PSBA) 1392. In some embodiments, the IMU1348 is a 6-axis IMU with an accuracy of about +/−1 degree within 10seconds of removal from the cradle 1328. The PSBA 1392 also includesother computing and processing components of the range and positiondetermination system 1300. A hall effect sensor 1396 is arranged incommunication with the PSBA 1392 to provide a signal indicative of theadjacency of the hall effect sensor 1396 top the magnet 1364 of thecradle 1328. The hall effect sensor 1396 allows the sighting device 1332to recognize when it is arranged in the cradle 1328 and when it isremoved for use. In addition to the measure button 1352, the sightingdevice 1332 includes a calibration button 1400 that can be used whilethe sighting device 1332 is fully seated in the cradle 1328 to re-zerothe distance, pitch, and yaw measurements, and/or to provide otherprogramming functions. For example, the calibration button 1400 may beused to calibrate a distance, pitch, and/or yaw between the aiming unit1316 to the base unit 1312. A status LED 1404 can be used to relayinformation to the user (e.g., ON, OFF, error messages or codes, etc.).A interface connector 1408 provides communication from the PSBA 1392 tothe base unit 1312. The interface connector 1408 is a wired connection,but can be replaced with a telematics device, or another wirelesscommunication device to provide wireless communication between theaiming unit 1316 and the base unit 1312.

As shown in FIG. 22, another schematic of the sighting device 1332includes a CAN interface 1412 and a power regulation device 1416 coupledto the interface connector 1408. The CAN interface 1412 can parseinformation from the PSBA 1392 onto dedicated channels (e.g., CAN HI,CAN LO, etc.) for use by the base unit 1312. The power regulator device1416 may receive electrical power from the interface connector 1408(e.g., CAN GROUND, POWER IN, GROUND IN, etc.) and condition and/ordistribute the power to the components of the sighting device 1332.

As shown in FIG. 23, the status LED 1404 can include a number ofcommunication modes. For example, when the status LED is off, itindicates that the sighting device 1332 is off or not active. A solidgreen light may indicate the sighting device 1332 is in the cradle 1328and ready for use. A solid yellow light may indicate that the sightingdevice is mounted in the cradle 1328 but the platform assembly 1216 ismoving above a threshold and the range and position determination system1300 is not ready for use. A slow blinking green light may indicate thatthe sighting device 1332 is removed from the cradle 1328 and ready foridentification of a desired position 1308. A solid red light mayindicate that the sighting device 1332 has been removed from the cradle1328 but that the time has expired for detecting a desired position 1308and that the sighting device 1332 must be returned to the cradle 1328. Afast blinking green light may indicate that the measurements weresuccessful and that the desired position 1308 is determined. A fastblinking red light may indicate that measurements were not successfuland that the sighting device 1332 should be returned to the cradle 1328(e.g., State 1).

As shown in FIG. 24, a cable 1420 for connecting the aiming unit 1316 tothe base unit 1312 includes a first connector 1424 structured to connectto the interface connector 1408 of the sighting device 1332, and asecond connector 1428 structured to connect to the base unit 1312. Insome embodiments, the second connector 1428 couples to a telematicsdevice positioned on the platform assembly 1216 or anothercommunications device and communication is provided between the baseunit 1312 and the aiming unit 1316. In some embodiments, the cable 1420is a 5 pin M12 Turck style. The cable 1420 can be a coiled cable such asTopcon p/n 1011727-01 CBL, TURCK RSC RKC 5732-3M. Communication betweenthe aiming unit 1316 and the based unit 1312 can be J1939 compatible CANbus, and 8 data byte PGN messages can be utilized.

As shown in FIG. 25, in some embodiments, an error determination systemis used to inhibit building angle interference with the platformassembly 1216. Reported IMU pitch and yaw angles will include someamount of error. The magnitude of error will depend on IMU 1348 qualityand duration of time allowed for user measurement. The errors may belarger with angled or irregular shaped buildings for example. In someembodiments, the sighting device 1332 senses multiple points adjacent tothe desired position 1308 to improve the perception of the target shape.

In some embodiments, the platform assembly 1216, the cradle 1328, and/orthe sighting device 1332 are fitted with location devices such as a GPSand/or GNSS receiver to improve the positional accuracy of the range andposition determination system 1300. The integration of a GNSS receiver(rover) into the sighting device 1332 along with the LDM 1344, the IMU1348, and other components can improve positional accuracy and theaccuracy of the desired position 1308. Another GNSS receiver (base) canbe installed in the base unit 1312 or on the turntable 1200. Both GNSSreceivers can communicate over CAN, allowing to use local RTK. Thesystem can measure in real-time the relative position of the platformassembly 1216 within one centimeter of accuracy. Dual GPS systems mayallow the range and position determination system 1300 to accuratelymeasure height of the platform assembly 1216 and the true yaw angle.

The range and position determination system 1300 provides accurateturntable 1200 to platform assembly 1216 position without requiringlength & angle sensors in the machine. Accurate offset positioning isprovided by the range and position determination system 1300. Using thesighting device 1332, the user can point it to a desired position andpress the measure button 1352 to prompt the range and positiondetermination system 1300 calculates geo coordinates of the desiredposition 1308. In some embodiments, the desired position includes localXYZ, (lat, lon, alt), or (North, East, Up). In some embodiments, therange and position determination system 1300 utilizes geofencing toautomatically detect and notify the user of approaching hazards (e.g.,power lines). The hazards could be predefined before work or use of therange and position determination system 1300 begins. Use of the rangeand position determination system 1300 can provide improved jobsite planexecution. Reach coordinates and ranges from jobsite can allow foroptimization of equipment use, resulting in fewer moves of the vehicle1100. Having sets of points of interest the range and positiondetermination system 1300 can calculate an optimal position of the boomlift 1100 before extending and positioning. In some embodiments, winddetection is used as an input to the system. In some embodiments, therange and position determination system 1300 automatically identifies ifthe lift device can reach the desired position 1308 that was out ofreach before and provides a relocation instruction to move the chassis1102 if the user wants to reach the desired position 1308 that is out ofreach at the current chassis 1102 position. The desired position 1308coordinates could be saved and used to detect new chassis 1102 position.In some embodiments, the range and position determination system 1300 isconnected to a network via a telematics device including a cellularmodem or another connectivity device and a remote real-time monitoringof current position of the lift device can be provided. A third partymapping service (e.g., Google® map layer) can be provided with currentplacement of the lift device. The network connectivity can also be usedto log position and orientation information of the vehicle 1100 during awork day with associated timestamps allowing for the analysis of data.It is possible to measure how much time spent for each point ofinterest. The range and position determination system 1300 can alsodetermine an absolute height allowing the lifting device to reach to thesame absolute height from different ground heights.

Second Implementation

As shown in FIGS. 26 and 27, another embodiment of the range andposition determination system 1300 includes a robotic total station(RTS) 1432 to generate a digital scan or map of a work area 1304 andallow the user to select the desired position 1308 a or 1308 b from aGUI 1440 generated on a human machine interface (HMI) 1436.

The range and position determination system 1300 provides for anoperator to identify a target workspace or desired position 1308 andhave the range and position determination system 1300 first advise ifthe user will be able to reach the desired position 1308 from thecurrent chassis 1102 position. Similar to the first implementationdiscussed above, the range and position determination system 1300 linksthe known chassis 1102 location to a defined work envelop to make anacceptable or unacceptable (e.g., GO or NO-GO) determination.

If the range and position determination system 1300 determines a “GO”status, then a communication is provided to the user to proceed asnormal since the product, location and reach envelop all agree. If therange and position determination system 1300 determines a “NO-GO”status, then a communication is provided to advise that the user shouldreposition the vehicle 1100 using machine drive/maneuvering.

The range and position determination system 1300 can also advise whatcoordinates and/or associated machine inputs are necessary for the userto reach their desired position 1308 a or 1308 b. The HMI 1436 canpresent an image of the work area 1304 with an associated ‘xyz’Cartesian system that allows the user to select a desired position 1308a or 1308 b (e.g., a point in space) and deliver the coordinatesnecessary to reach the desired position 1308 a or 1308 b given theincumbent machine's control software. The HMI 1436 and the range andposition determination system 1300 can provide “semi-autonomous” oroperator-assisted motion and/or boom positioning. In some embodiments,operator-assisted motion may include a user input via the HMI 1436 thatallows the range and position determination system 1300 or anothersystem of the boom lift 1100 to move to the desired position 1308 a or1308 b. For example, a foot switch may be positioned within reach of theuser, and depression of the foot switch engages the range and positiondetermination system 1300 and allows automated movement to the desiredposition 1308 a or 1308 b. The user can select, via the HMI 1436, whichdesired position between 1308 a and 1308 b and selectively allowmovement of the boom lift 1100. In other words, unloading the footswitch would result in movement of the boom lift being inhibited. Inthis way, the user selectively allows or inhibits movement on the boomlift 1100 and the boom lift 1100 provides the movement in response tothe input of the user. In some embodiments, the HMI 1436 that providesoperator-assisted motion includes a joystick, a display, a hand operatedswitch, a button, or another actuator that provides an allow movementcommand, or an inhibit movement command. In some embodiments, thedisplay of the HMI 1436 includes a touch screen and the user can engageand allow movement via manipulation of the touch screen.

In some embodiments, the HMI 1436 provides visual instructions to theuser to move the boom lift 1100 to the desired position 1308 a or 1308b. In some embodiments, the HMI 1436 includes a joystick and a displaythat provides instructions for manipulation of the joystick. Forexample, directional arrows including direction and magnitude could bedisplayed. In another example, a light ring surrounding the joystick mayindicate which direction to manipulate the joystick. Multiple joysticks,buttons, actuators, foot pedals, and other controls can be provided andcoordinated for manipulation. The directions provided to the user may beadaptive and conveyed from the users perspective such that thedirections are easily interpreted by the user regardless of theorientation of the boom lift 1100. For example, if the user needs topush forward on the joystick to create a desired movement, “forward” isrelative to the user, not necessarily to the machine.

In some embodiments, the user defines via the range and positiondetermination system 1300 the first desired position 1308 a andadditionally any “up and over” obstacle or requirement. The desiredposition 1308 a and the obstacles are used in conjunction with thecurrent machine chassis location to determine feasibility and theresultant Go, or NO-GO status.

The Robotic Total Station (RTS) 1432 is a building construction systemthat is able to remotely measure distances and position. The RTS 1432uses horizontal and vertical angle encoders along with a laser rangemeter(s) to determine distance and angles relative from a known point.The RTS 1432 is mounted to the turntable 1200 of the boom lift 1100, butcould also be mounted in other positions. In some embodiments the RTS1432 includes a +/−5 degree self-leveling range which matches the tiltrange of using the boom lift 1100. The RTS 1432 includes a camera systembuilt into the optical path so the user is able to see where the RTS1432 is pointing and the user can easily and remotely select the desiredpositions 1308 a or 1308 b to be measured via the GUI 1440 on the HMI1436. This provides simplicity of use so the user can quickly controlthe RTS 1432 from the platform assembly 1216 of the boom lift 1100.

As shown in FIGS. 28A-H, the range and position determination system1300 allows the user to identify desired positions 1308 a-c (e.g., morethan three or less than three desired positions are contemplated). Asshown in FIG. 28A, the RTS 1432 is mounted on the chassis 1102 of theboom lift 1100. In FIG. 28B, the user activates the RTS 1432 using theHMI 1436. Then, as shown in FIGS. 28C-E, the user can pan around the GUI1440 displayed on the HMI 1436 and select desired positions 1308 a-c. Asshown in FIG. 28F, once all the desired positions 1308 a-c are selected,the user finalizes the session via the HMI 1436 and the range andposition determination system 1300 generates a work area 1308 d withinwhich work is to be performed. The work area will include as many of thedesired positions 1308 a-c as possible. In the example shown in FIGS.28A-H, all three desired positions 1308 a-c fit within the work area1308 d such that only one chassis position is required to access allthree desired positions 1308 a-c. In some embodiments, more than onework area 1308 d may be generated. As shown in FIG. 28G, the range andposition determination system 1300 generates a target chassis location1444 associated with the work area 1308 d. The user can then drive theboom lift chassis to the target chassis location 1444. In someembodiments, the target chassis location 1444 is provided via anaugmented reality GUI 1440 of the HMI 1436, a virtual reality GUI 1440of the HMI 1436, or via a laser. As shown in FIG. 28H, once the chassis1102 is aligned with the target chassis location 1444, the range andposition determination system 1300 provides a GO status for all threedesired positions 1308 a-c and the boom lift 1100 can be used tophysically provide access to the three desired positions 1308 a-c viathe platform assembly 1216. In some embodiments, all actions representedin FIGS. 28A-H can be performed via the HMI 1436 by the user positionedwithin the platform assembly 1216.

The movement and positioning of the platform assembly 1216 at highelevations is challenging. At extreme heights, small movements at thechassis 1102 of the boom lift 1100 can cause large movements of theplatform assembly 1216. Because of this, the positioning of the platformassembly 1216 relative to a building 1304 or worksite 1304 is a slowtask. The range and position determination system 1300 improves theability of the user to move the chassis 1102 efficiently.

As shown in FIGS. 29-31, the RTS 1432 can communicate with a beacon 1448(e.g., a cateye prism) attached to the platform assembly 1216. Thebeacon tracking capabilities allow for an automatic, smoother, andfaster process of getting the platform assembly 1216 to the rightposition for the user to complete tasks. Location information of thebeacon 1448 (and therefore the platform assembly 1216) are tied into theboom lift's 10 hydraulic system to quickly and smoothly move the user onthe platform assembly 1216 to the desired position 1308 a. In someembodiments, the beacon 1448 is mounted on the underside of the platformassembly 1216 and the RTS 1432 tracks the beacon 1448 and calculates theposition of the platform assembly 1216 relative to the chassis 1102 andthe building 1304/desired positions 1308 a-c/work area 1308 d. Thebeacon 1448 is used to determine the current location or position of theplatform assembly 1216.

As shown in FIGS. 32 and 33, a bracket pedestal 1452 can mount the RTS1432 to the chassis 1102, turntable 1200, or other component of the boomlift 1100. The bracket 1452 can include a ⅝-11 male thread to attach RTS1432 to the bracket 1452. The relative location of the center of thebracket 1452 to the center rotation pivot of the turntable 1200 is usedto determine lift positon relative to the building 1304 being measured.The bracket 1452 also includes a power and data connector 1456 thatconnects to the RTS 1432, a power cable 1460, and a strain relief 1466.

The RTS 1432 may run on an internal battery that must be charged daily.This is not the preferred solution for boom lifts 1100 and a powerconnector can be added to the side of the RTS 1432 to receive power fromthe boom lift 1100 using the existing battery door. A drop down voltageregulator could be positioned in the boom lift 1100 or in a battery boxcavity. The strain relief 1466 supports the power cable 1460 to allowthe RTS 1432 to freely spin around the bracket 1452.

In some embodiments, the HMI 1436 is a 7 inch rugidized touchscreendisplay that is use by the user to control the functionality of the RTS1432. Communication between the HMI 1436 and the RTS 1432 can beprovided over Wi-Fi®. However, Wi-Fi® around heavy equipment presentschallenges, especially at the extreme ranges that are possible for theUltra Boom Lifts that can extend to 185 feet. Hard wiring the HMI 1436and the RTS 1432 can also be provided (e.g., via USB or another system).The data communicated between the HMI 1436 and the RTS 1432 includesboth control of instrument (e.g., boom lift controls) and position data(e.g., from the range and position determination system 1300) whichincludes small packets of data but also video data of camera feeds forthe user to select desired positions 1308 a-c to measure.

In some embodiments, the range and position determination system 1300includes all the machine types (e.g., the boom lift, scissor lifts,telehandlers, any other vehicle or apparatus that includes a liftdevice) and offset measurements that are needed to ensure accurate andprecise measurement.

Determination of Acceptability of Desired Position

The implementations discussed above can be used to determine the currentposition of the lift device (e.g., the platform assembly 1216) and thedesired position. The range and position determination system 1300includes load maps (e.g., see FIG. 34) that can be used to determine ifthe lift device is capable of moving to the desired positions 1308 fromthe current position within stability thresholds. If the lift device cansuccessfully navigate to the desired position 1308 then an acceptable orGO status is provided to the user. If the lift device will be operatingoutside of stability thresholds in order to reach the desired position1308, then an unacceptable or NO-GO status is provided to the user.

In some embodiments, the load map defines operational envelopes. Eachoperational envelope may include a rated load. For example, the ratedload may include a payload or total weight of a target location of thelifting device (e.g., a total weight of occupants and equipment loadedon the platform assembly 1216). In the example shown in FIG. 34, theboom lift 1100 includes a first operational envelop 1470 definingacceptable (i.e., GO) status distance, pitch, and yaw positionalinformation for a first rated load of up to one-thousand pounds (1000lbs). Desired positions 1308 located outside the first operationalenvelope 1470 are determined to be unacceptable (i.e. NO-GO) status andthe operator is notified to not extend the boom lift 1100 to the desiredposition 1308. A second operational envelop 1474 defines acceptable(i.e., GO) status distance, pitch, and yaw positional information for asecond rated load of up to seven-hundred-fifty pounds (750 lbs). A thirdoperational envelop 1478 defines acceptable (i.e., GO) status distance,pitch, and yaw positional information for a third rated load of up tofive-hundred pounds (500 lbs). More than three or less than threeoperational envelopes can be assigned or determined for each machine orlifting device. Operational envelops generally define athree-dimensional space within which the rated load of a particularmachine can operate within stability tolerances.

In operation, the user can utilize the range and position determinationsystem 1300 to identify the desired position 1308. The range andposition determination system 1300 also receives rated load informationfrom a machine sensor suite associated with the vehicle 1100 or thelifting device (e.g., stress type sensors, virtual or physical sensors,weight sensing systems, etc.), from sensors of the range and positiondetermination system 1300, or based on user input (e.g., a manuallyentered payload or rated load via the HMI). The range and positiondetermination system 1300 can then identify the position of the desiredposition 1308 within the load map using the weight. If the desiredposition 1308 is located within the operational envelop defined based onthe rated load, then the user is provided with an acceptable or a GOnotification. If the desired position 1308 is located outside theoperational envelop defined based on the rated load, then the user isprovided with an unacceptable or a NO-GO notification.

In some embodiments, the range and position determination system 1300can provide instructions to the user (e.g., via the HMI) for how toposition the vehicle 1100 to reach the desired position 1308 or aplurality of desired positions 1308 a-c. Instructions can also includesteps for manipulating the lifting device (e.g., visual or augmentedreality guides). In some embodiments, if an unacceptable or NO-GOnotification is presented, the machine, vehicle 1100, or lifting devicemay inhibit the user from attempting to reach the desired position 1308before repositioning the machine or vehicle 1100.

In some embodiments, the range and position determination system 1300includes a database of machines, vehicles 1100, and/or lifting devicesand can reference the database to preload calibration settings. Themachine specific calibration settings can improve the ability of therange and position determination system 1300 to be installed and tooperate consistently across a fleet of vehicles. In some embodiments, asingle range and position determination system 1300 could be movedbetween different vehicles 1100 and utilize preset, and precalibratedsettings.

In some embodiments, the range and position determination system 1300provide application specific functionality. For example, when used witha refuse vehicle (e.g., a front loading or a side loading refusevehicle) the lifting device can be integrated with range and positiondetermination system 1300. The range and position determination system1300 may be used to scan a curb for trash cans, or an upcoming trash canmay be identified by the user using a handheld aiming unit. The rangeand position determination system 1300 can then determine if theidentified trach can is within the operational envelop of the liftingdevice and provide an acceptable or unacceptable notification to theuser.

Other Exemplary Vehicles

According to the exemplary embodiment shown in FIG. 35, the vehicle 1100is configured as a front loading refuse vehicle (e.g., a garbage truck,a waste collection truck, a sanitation truck, a recycling truck, etc.).The vehicle 1100 includes a front cabin, shown as cab 1120, coupled tothe frame 1102 (e.g., at a front end thereof, etc.) and defining aninterior, shown as interior 1178, and a rear assembly, shown as rearassembly 1130, coupled to the frame 1102 (e.g., at a rear end thereof,etc.). The cab 1120 may include various components to facilitateoperation of the vehicle 1100 by an operator (e.g., a seat, a steeringwheel, hydraulic controls, a user interface, switches, buttons, dials,etc.). In other embodiments, the vehicle 1100 is configured as aside-loading refuse truck or a rear-loading refuse truck. As shown inFIG. 35, the rear assembly 1130 is configured as a rear body, shown asrefuse compartment 1140. According to an exemplary embodiment, therefuse compartment 1140 facilitates transporting refuse from variouswaste receptacles within a municipality to a storage and/or processingfacility (e.g., a landfill, an incineration facility, a recyclingfacility, etc.). By way of example, loose refuse may be placed into therefuse compartment 1140 where it may thereafter be compacted. The refusecompartment 1140 may provide temporary storage for refuse duringtransport to a waste disposal site and/or a recycling facility. In someembodiments, the refuse compartment 1140 includes a hopper volume and astorage volume. Refuse may be initially loaded into the hopper volumeand thereafter compacted into the storage volume. According to anexemplary embodiment, the hopper volume is positioned between thestorage volume and the cab 1120 (i.e., refuse is loaded into a positionof the refuse compartment 1140 behind the cab 1120 and stored in aposition further toward the rear of the refuse compartment 1140). Inother embodiments, the storage volume is positioned between the hoppervolume and the cab 1120 (e.g., in a rear-loading refuse vehicle, etc.).As shown in FIG. 35, the refuse compartment 1140 includes a pivotablerear portion, shown as tailgate 1142. The tailgate 1142 is pivotallycoupled to the refuse compartment 1140 and movable between a closedorientation and an open orientation by actuators, shown as tailgateactuators 1143 (e.g., to facilitate emptying the storage volume, etc.).

As shown in FIG. 35, the vehicle 1100 includes a lift device or liftmechanism/system (e.g., a front-loading lift assembly, etc.), shown aslift assembly 1144 having a pair of lift arms, shown as lift arms 1145,coupled to the frame 1102 and/or the rear assembly 1130 on each side ofthe vehicle 1100 such that the lift arms 1145 extend forward of the cab1120 (e.g., a front-loading refuse vehicle, etc.). In other embodiments,the lift assembly 1144 extends rearward of the rear assembly 1130 (e.g.,a rear-loading refuse vehicle, etc.). In still other embodiments, thelift assembly 1144 extends from a side of the rear assembly 1130 and/orthe cab 1120 (e.g., a side-loading refuse vehicle, etc.). The lift arms1145 may be rotatably coupled to frame 1102 with a pivot (e.g., a lug, ashaft, etc.). As shown in FIG. 35, the lift assembly 1144 includesactuators (e.g., hydraulic cylinders, etc.), shown as lift arm actuators1146 and articulation actuators 1148, coupled to the frame 1102 and/orthe lift arms 1145. The lift arm actuators 1146 are positioned such thatextension and retraction thereof rotates the lift arms 1145 about anaxis extending through the pivot, according to an exemplary embodiment.The lift arms 1145 may be rotated by the lift arm actuators 1146 to lifta refuse container over the cab 1120. The articulation actuators 1148are positioned to articulate the distal ends of the lift arms 1145coupled to the refuse container to assist in tipping refuse out of therefuse container into the hopper volume of the refuse compartment 1140(e.g., through an opening in the refuse compartment 1140, etc.). Thelift arm actuators 1146 may thereafter rotate the lift arms 1145 toreturn the empty refuse container to the ground.

According to the exemplary embodiment shown in FIG. 36, the vehicle 1100is configured as a side loading refuse vehicle (e.g., a garbage truck, awaste collection truck, a sanitation truck, a recycling truck, etc.) andthe lift assembly 1144 is arranged on a side of the refuse truck 1100.

According to the exemplary embodiment shown in FIG. 37, the vehicle 1100is configured as a concrete mixer truck. As shown in FIG. 37, the rearassembly 1130 of the vehicle 1100 includes a concrete drum assembly,shown as drum assembly 1150. According to an exemplary embodiment, thevehicle 1100 is configured as a rear-discharge concrete mixing truck. Inother embodiments, the vehicle 1100 is configured as a front-dischargeconcrete mixing truck.

As shown in FIG. 37, the drum assembly 1150 of the vehicle 1100 includesa drum, shown as mixing drum 1152. The mixing drum 1152 is coupled tothe frame 1102 and disposed behind the cab 1120 (e.g., at a rear and/ormiddle of the frame 1102, etc.). The drum assembly 1150 includes a drivesystem, shown as drum drive system 1154, coupled to the frame 1102.According to an exemplary embodiment, the drum drive system 1154 isconfigured to selectively rotate the mixing drum 1152 about a central,longitudinal axis thereof. In one embodiment, the drum drive system 1154is driven by a driveline. In other embodiments, the drum drive system1154 is individually powered, separate from the driveline (e.g., with amotor, an independently driven actuator, etc.). According to anexemplary embodiment, the vehicle 1100 includes a lift device in theform of an actuator positioned to facilitate selectively adjusting thecentral, longitudinal axis to a desired or target angle (e.g., manuallyin response to an operator input/command, automatically according to acontrol scheme, etc.).

As shown in FIG. 37, the mixing drum 1152 of the drum assembly 1150includes an inlet, shown as hopper 1156, and an outlet, shown as chute1158. According to an exemplary embodiment, the mixing drum 1152 isconfigured to receive a mixture, such as a concrete mixture (e.g.,cementitious material, aggregate, sand, etc.), with the hopper 1156. Themixing drum 1152 may additionally include an injection port. Theinjection port may provide access into the interior of the mixing drum1152 to inject water and/or chemicals (e.g., air entrainers, waterreducers, set retarders, set accelerators, superplasticizers, corrosioninhibitors, coloring, calcium chloride, minerals, and/or other concreteadditives, etc.). According to an exemplary embodiment, the injectionport includes an injection valve that facilitates injecting the waterand/or the chemicals from a fluid reservoir (e.g., a water tank, etc.)into the mixing drum 1152 to interact with the mixture, while preventingthe mixture within the mixing drum 1152 from exiting the mixing drum1152 through the injection port. The mixing drum 1152 may include amixing element (e.g., fins, etc.) positioned within the interiorthereof. The mixing element may be configured to (i) agitate thecontents of mixture within the mixing drum 1152 when the mixing drum1152 is rotated by the drum drive system 1154 in a first direction(e.g., counterclockwise, clockwise, etc.) and (ii) drive the mixturewithin the mixing drum 1152 out through the chute 1158 when the mixingdrum 1152 is rotated by the drum drive system 1154 in an opposing seconddirection (e.g., clockwise, counterclockwise, etc.). The chute 1158 mayinclude a lifting device in the form of an actuator positioned such thatthe chute 1158 is selectively pivotable to reposition the chute 1158(e.g., vertically, laterally, etc.) and, therefore, an angle at whichthe mixture is expelled from the mixing drum 1152.

According to the exemplary embodiment shown in FIG. 38, the vehicle 1100is configured as a concrete pump truck and the lift device is a concretepump tube assembly that is articulable relative to the truck 1100 andthe chassis 1102.

According to the exemplary embodiment shown in FIG. 39, the vehicle 1100is configured as response vehicle. As shown in FIG. 39, the responsevehicle is a fire apparatus or fire fighting vehicle configured as arear-mount aerial ladder truck. In another embodiment, the fireapparatus or fire fighting vehicle is configured as a mid-mount aerialladder truck. In some embodiments, the aerial ladder truck is configuredas a quint fire truck (e.g., includes on-board water storage, hosestorage, a water pump, etc.). In some embodiments, the aerial laddertruck is configured as a tiller fire truck. In still another embodiment,the fire apparatus or fire apparatus is configured as a pumper firetruck (i.e., does not include an aerial ladder). In other embodiments,the vehicle 1100 is configured as another type of response vehicle. Byway of example, the response vehicle may be configured as a policevehicle, an ambulance, a tow truck, and/or still other vehicles used forresponding to a scene (e.g., an accident, a fire, an incident, etc.).

As shown in FIG. 39, the rear assembly 1130 includes stabilizers, shownas outriggers 1160, and a lift device or an aerial assembly, shown asladder assembly 1170. The outriggers 1160 may be selectively extendedfrom each lateral side and/or rear of the rear assembly 1130 to provideincreased stability while the vehicle 1100 is stationary and the ladderassembly 1170 is in use (e.g., extended from the vehicle 1100, etc.).The rear assembly 1130 further includes various compartments, cabinets,etc. that may be selectively opened and/or accessed for storage and/orcomponent inspection, maintenance, and/or replacement.

As shown in FIG. 39, the ladder assembly 1170 includes a plurality ofladder sections, shown as ladder sections 1172, that are slidablycoupled together such that the ladder sections 1172 are extendable andretractable. The ladder assembly 1170 further includes a base platform,shown as turntable 1174, positioned at the base or proximal end of theladder sections 1172. The turntable 1174 is configured to rotate about avertical axis such that the ladder sections 1172 may be selectivelypivoted about the vertical axis (e.g., up to 360 degrees, etc.). Asshown in FIG. 39, the ladder assembly 1170 includes an implement, shownas water turret 1176, coupled to the distal end of the ladder sections1172. The water turret 1176 is configured to facilitate expelling waterand/or a fire suppressing agent (e.g., foam, etc.) from a water storagetank and/or agent tank onboard the vehicle 1100 and/or from an externalwater source (e.g., a fire hydrant, a separate water/pumper truck,etc.). In other embodiments, the ladder assembly 1170 does not includethe water turret 1176. In such embodiments, the ladder assembly 1170 mayinclude an aerial platform coupled to the distal end of the laddersections 1172.

According to the exemplary embodiment shown in FIG. 40, the vehicle 1100is configured as a scissor lift. As shown in FIG. 40, the vehicle 1100includes a lift device or lift system (e.g., a scissor assembly, etc.),shown as lift assembly 1530, that couples the frame 1102 to a platform,shown as platform 1532. The frame 1102 supports the lift assembly 1530and the platform 1532, both of which are disposed directly above theframe 1102. In use, the lift assembly 1530 extends and retracts to raiseand lower the platform 1532 relative to the frame 1102 between a loweredposition and a raised position.

As shown in FIG. 40, the vehicle 1100 includes one or more actuators,shown as leveling actuators 1548, coupled to each corner of the frame1102. According to an exemplary embodiment, the leveling actuators 1548extend and retract vertically between a stored position and a deployedposition. In the stored position, the leveling actuators 1548 are raisedand do not contact the ground. In the deployed position, the levelingactuators 1548 contact the ground, lifting the frame 1102. The length ofeach of the leveling actuators 1548 in their respective deployedpositions may be varied to adjust the pitch (i.e., rotational positionabout a lateral axis) and the roll (i.e., rotational position about alongitudinal axis) of the frame 1102. Accordingly, the lengths of theleveling actuators 1548 in their respective deployed positions may beadjusted such that the frame 1102 is leveled with respect to thedirection of gravity, even on uneven or sloped terrains. The levelingactuators 1548 may additionally lift the wheel and tire assemblies 1106off the ground, preventing inadvertent driving of the vehicle 1100. Inother embodiments, the vehicle 1100 does not include the levelingactuators 1548.

As shown in FIG. 40, the lift assembly 1530 includes a number ofsubassemblies, shown as scissor layers 1540. Each of the scissor layers1540 includes a first member, shown as inner member 1542, and a secondmember, shown as outer member 1544. In each scissor layer 1540, theouter member 1544 receives the inner member 1542. The inner member 1542is pivotally coupled to the outer member 1544 near the centers of boththe inner member 1542 and the outer member 1544. Accordingly, the innermembers 1542 pivot relative to the outer members 1544 about a lateralaxis. The scissor layers 1540 are stacked atop one another to form thelift assembly 1530. Each inner member 1542 and each outer member 1544has a top end and a bottom end. The bottom end of each inner member 1542is pivotally coupled to the top end of the outer member 1544 immediatelybelow it, and the bottom end of each outer member 1544 is pivotallycoupled to the top end of the inner member 1542 immediately below it.Accordingly, each of the scissor layers 1540 is coupled to one anothersuch that movement of one scissor layer 1540 causes a similar movementin all of the other scissor layers 1540. The bottom ends of the innermember 1542 and the outer member 1544 belonging to the lowermost of thescissor layers 1540 are coupled to the frame 1102. The top ends of theinner member 1542 and the outer member 1544 belonging to the uppermostof the scissor layers 1540 are coupled to the platform 1532. Scissorlayers 1540 may be added to or removed from the lift assembly 1530 toincrease or decrease, respectively, the maximum height that the platform1532 is configured to reach.

As shown in FIG. 40, the lift assembly 1530 includes one or moreactuators (e.g., hydraulic cylinders, pneumatic cylinders, motor-drivenleadscrews, etc.), shown as lift actuators 1546, that are configured toextend and retract the lift assembly 1530. The lift actuators 1546 arepivotally coupled to an inner member 1542 at one end and pivotallycoupled to another inner member 1542 at the opposite end. These innermembers 1542 belong to a first scissor layer 1540 and a second scissorlayer 1540 that are separated by a third scissor layer 1540. In otherembodiments, the lift assembly 1530 includes more or fewer liftactuators 1546 and/or the lift actuators 1546 are otherwise arranged.The lift actuators 1546 are configured to actuate the lift assembly 1530to selectively reposition the platform 1532 between the lowered positionwhere the platform 1532 is proximate the frame 1102 and the raisedposition where the platform 1532 is at an elevated height. In someembodiments, extension of the lift actuators 1546 moves the platform1532 vertically upward (extending the lift assembly 1530), andretraction of the linear actuators moves the platform 1532 verticallydownward (retracting the lift assembly 1530). In other embodiments,extension of the lift actuators 1546 retracts the lift assembly 1530,and retraction of the lift actuators 1546 extends the lift assembly1530. In some embodiments, the outer members 1544 are approximatelyparallel and/or contacting one another when with the lift assembly 1530in a stored position. The vehicle 1100 may include various components todrive the lift actuators 1546 (e.g., pumps, valves, compressors, motors,batteries, voltage regulators, etc.).

Referring particularly to FIG. 41, a lift device, a boom, an articulatedboom, a lift, a MEWP, a telehandler, etc., shown as lift device 1100includes a base assembly 1124 (e.g., a base, a main body, a vehicle,etc.), a lift apparatus 1104 (e.g., a telescoping arm, an articulatedarm, a boom arm, a boom, etc.), and an implement assembly 1116 (e.g., aplatform, a platform assembly, a work platform, a fork assembly, anapparatus, etc.). As shown in FIG. 41, lift device 1100 is provided as amobile elevated work platform (MEWP) where the implement assembly 1116is a work platform. Implement assembly 1116 may be replaceable withdifferent implement assemblies (e.g., a fork assembly) to transition thelift device 1100 from being a MEWP to being a material handler (MH).When lift device 1100 is a MH, implement assembly 1116 can be a forkcarriage that may serve as a versatile attachment interface where a workplatform designed with forklift pockets can be attached, a pair of forksfor material handliner, etc. Additionally, the fork carriage can be usedfor other tool attachments so that the implement assembly 1116 isinterchangeable.

Base assembly 1124 includes frame 1102 (e.g., a carriage, a structuralmember, a support member, a chassis, a frame member, etc.,), andmultiple tractive elements 1106 (e.g., wheels, treads, rotatablemembers, rollers, etc.). Base assembly 1124 also includes a primarymover (e.g., an electric motor, an internal combustion engine, ahydraulic motor, a pneumatic motor, etc.), shown as an electric motor.Tractive elements 1106 can receive the mechanical power from theelectric motor and rotate relative to frame 1102. Tractive elements 1106can each be pivotally or rotatably coupled with frame 1102 so thattractive elements 1106 can rotate relative to frame 1102 to facilitate adriving or transport operation of lift device 1100 (e.g., to transportlift device 1100 from one jobsite to another jobsite).

Referring still to FIG. 41, base assembly 1124 includes an operatorstation, shown as deployable operator station 1190 (e.g., a cab, ahousing, an enclosure, a space, a zone, a station, a standing station, aplatform, etc.). Deployable operator station 1190 can be fixedly coupledwith frame 1102 or a body of lift device 1100 so that an operator maysit or stand at deployable operator station 1190 and be transported withlift device 1100 as lift device 1100 drives and steers. Deployableoperator station 1190 can include a body, a frame, sidewalls, a roof,doors, windows, etc., or may otherwise form an enclosure for theoperator. Deployable operator station 1190 can be positioned on a leftside or a right side of lift device 1100, or may be centered above frame1102. In some embodiments, deployable operator station 1190 isdeployable or transitionable between an un-deployed state, position,mode, etc., and a deployed state, position, mode, etc. Deployableoperator station 1190 may be a complete or a partial enclosure thatprovides protection for the operator or shielding from environmentalelements.

Referring still to FIG. 41, lift apparatus 1104 is or includes a pair ofarticulated telescoping members, shown as an outer member 1026 (e.g., afirst member) and an inner member 1028. Inner member 1028 can bereceived within an inner volume of outer member 1026 and may beconfigured to slide, translate, etc., relative to outer member 1026. Insome embodiments, inner member 1028 and outer member 1026 are slidablycoupled so that an overall length of the telescoping members can beincreased or decreased to facilitate raising or lowering implementassembly 1116. Inner member 1028 and outer member 1026 may be configuredto extend or retract through operation of a primary mover, a linearelectric actuator, an electric motor, a hydraulic cylinder, a pneumaticcylinder, etc., shown as a linear electric actuator. Outer member 1026can receive inner member 1028 through a first or proximate end and maybe rotatably or hingedly coupled with an intermediate member 1044 at asecond or opposite end. Specifically, outer member 1026 may be hingedlyor rotatably coupled with an upper portion or corner of intermediatemember 1044. Outer member 1026 can be driven to rotate or pivot relativeto intermediate member 1044 to raise or lower implement assembly 1116 bya linear actuator, an electric motor, a linear electric actuator, apneumatic actuator, a hydraulic cylinder, etc., shown as a linearelectric actuator.

Lift apparatus 1104 can include an intermediate member, an elongatedmember, etc., shown as medial member 1036. Medial member 1036 can bepivotally coupled with inner member 1028 through a hinge, a pin, ahinged coupling, etc. Inner member 1028 may extend into an inner volumeof outer member 1026 at a first end and rotatably couple with medialmember 1036 at an opposite or second end. Medial member 1036 can beconfigured to be driven to rotate about the pin to pivot or rotateimplement assembly 1116 through a linear electric actuator 1042. Linearelectric actuator 1042 may be pivotally coupled at a first end withmedial member 1036 and pivotally coupled at a second end with innermember 1028 so that extension or retraction of linear electric actuator1042 drives rotation of medial member 1036 and implement assembly 1116about the pin relative to inner member 1028.

The lift device 1100 is shown in a material handler mode where implementassembly 1116 include a pair of elongated members, shown as forks 1118.Implement assembly 1116 can be fixedly coupled with medial member 1036of lift apparatus 1104 so that implement assembly 1116 is raised orlowered through operation of lift apparatus 1104. Implement assembly1116 may also include a bucket, a platform (e.g., an aerial workplatform as shown in FIG. 11), a drill, an auger, etc., or any otherequipment.

According to the exemplary embodiment shown in FIG. 42, the vehicle 1100is configured as an ultra boom lift capable of carrying the platformassembly 1216 to high heights and reaches (e.g., 185 feet).

While various types of vehicle have been described herein with respectto FIGS. 35-42, it should be understood that the present disclosuresimilarly applies to other types of vehicles and lifting devices. Forexample, the vehicle 1100 may be a military vehicle, a delivery vehicle,a mail vehicle, a boom truck, a plow truck, a farming machine orvehicle, a construction machine or vehicle, a bus, a semi-truck, apassenger or work vehicle (e.g., a sedan, a SUV, a truck, a van, etc.),and/or still another vehicle that includes a lift device.

Each of the vehicles 1100 discussed above are equipped with a range andposition determination system 1300 that is structured to define rangeand position limits and thresholds of the lift device, monitor a currentposition of the lift device, receive a desired position via user input,receive a payload input, and determine if the desired position isacceptable or unacceptable. Two exemplary range and positiondetermination systems 1300 are discussed above. Other range and positiondetermination systems and implementations are considered within thescope of this disclosure.

As utilized herein, the terms “approximately”, “about”, “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the invention as recited in theappended claims.

It should be noted that the term “exemplary” as used herein to describevarious embodiments is intended to indicate that such embodiments arepossible examples, representations, and/or illustrations of possibleembodiments (and such term is not intended to connote that suchembodiments are necessarily extraordinary or superlative examples).

The terms “coupled,” “connected,” and the like, as used herein, mean thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent) or moveable (e.g.,removable, releasable, etc.). Such joining may be achieved with the twomembers or the two members and any additional intermediate members beingintegrally formed as a single unitary body with one another or with thetwo members or the two members and any additional intermediate membersbeing attached to one another.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below,” etc.) are merely used to describe the orientation ofvarious elements in the figures. It should be noted that the orientationof various elements may differ according to other exemplary embodiments,and that such variations are intended to be encompassed by the presentdisclosure.

Also, the term “or” is used in its inclusive sense (and not in itsexclusive sense) so that when used, for example, to connect a list ofelements, the term “or” means one, some, or all of the elements in thelist. Conjunctive language such as the phrase “at least one of X, Y, andZ,” unless specifically stated otherwise, is otherwise understood withthe context as used in general to convey that an item, term, etc. may beeither X, Y, Z, X and Y, X and Z, Y and Z, or X, Y, and Z (i.e., anycombination of X, Y, and Z). Thus, such conjunctive language is notgenerally intended to imply that certain embodiments require at leastone of X, at least one of Y, and at least one of Z to each be present,unless otherwise indicated.

It is important to note that the construction and arrangement of theelements of the systems and methods as shown in the exemplaryembodiments are illustrative only. Although only a few embodiments ofthe present disclosure have been described in detail, those skilled inthe art who review this disclosure will readily appreciate that manymodifications are possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.) without materially departing from the novelteachings and advantages of the subject matter recited. For example,elements shown as integrally formed may be constructed of multiple partsor elements. It should be noted that the elements and/or assemblies ofthe components described herein may be constructed from any of a widevariety of materials that provide sufficient strength or durability, inany of a wide variety of colors, textures, and combinations.Accordingly, all such modifications are intended to be included withinthe scope of the present inventions. Other substitutions, modifications,changes, and omissions may be made in the design, operating conditions,and arrangement of the preferred and other exemplary embodiments withoutdeparting from scope of the present disclosure or from the spirit of theappended claims.

1. A lift machine comprising: a frame; a platform movable relative tothe frame and structured to support a user; and a range and positiondetermination system including: a base unit coupled to the frame andstructured to determine a platform position relative to the frame; ahuman machine interface structured to identify a desired position andincluding a user input; and one or more processing circuits comprisingone or more memory devices coupled to one or more processors, the one ormore memory devices configured to store instructions thereon that, whenexecuted by the one or more processors, cause the one or more processorsto: receive a total weight of the platform; determine distance andorientation information of the desired position; query a load mapincluding an operational envelope using the distance and orientationinformation and the total weight; return an acceptable status when thedistance and orientation information and the total weight are within theoperational envelope; return an unacceptable status when the distanceand orientation information and the total weight are outside theoperational envelope; output the acceptable status or the unacceptablestatus to the human machine interface for display to the user; receiveactuation information from the user input of the human machineinterface; and automatically control the lift machine to move theplatform to the desired position in response to (a) outputting theacceptable status and (b) information received from the user input. 2.The lift machine of claim 1, wherein the human machine interfaceincludes an aiming unit positioned on the platform, wherein the aimingunit includes a sight lens structured to be viewed through by the userto visually identify the desired position, and wherein the sight lensincludes a cross hairs or a visible light laser.
 3. (canceled) 4.(canceled)
 5. The lift machine of claim 1, wherein the human machineinterface includes an aiming unit positioned on the platform, andwherein the aiming unit includes a laser distance meter structured todetermine a distance from the aiming unit to the desired position. 6.The lift machine of claim 1, wherein the human machine interfaceincludes an aiming unit positioned on the platform, wherein the aimingunit includes a cradle rigidly coupled to the platform; and a sightingdevice movable relative to the cradle and including a sensor array, andwherein the one or more memory devices are further configured to storeinstructions thereon that, when executed by the one or more processors,cause the one or more processors to determine a relative position of thedesired position with respect to the base unit.
 7. The lift machine ofclaim 6, wherein the cradle defines a calibration orientation when thesighting device is received by the cradle, and wherein the desiredposition is defined relative to the calibration orientation.
 8. The liftmachine of claim 7, wherein the sighting device includes an inertialmeasurement unit structured to determine an orientation of the sightingdevice relative to the calibration orientation defined by the cradle. 9.The lift machine of claim 6, wherein the sighting device is activatedwhen removed from the cradle.
 10. The lift machine of claim 6, whereinthe sighting device communicates wirelessly with the cradle, and thecradle communicates via a wired connection with the base unit.
 11. Thelift machine of claim 1, wherein the human machine interface includes anaiming unit positioned on the platform, and wherein the aiming unitincludes a zero position defined when a sighting device is within orengaged with a cradle rigidly coupled to the platform.
 12. The liftmachine of claim 1, wherein the range and position determination systemfurther includes a beacon coupled to the platform, and wherein the baseunit determines the platform position based on information received fromthe beacon.
 13. The lift machine of claim 1, wherein the human machineinterface includes a display structured to display a work area andprovide the user with the ability to select the desired position withinthe work area.
 14. The lift machine of claim 13, wherein the one or morememory devices are further configured to store instructions thereonthat, when executed by the one or more processors, cause the one or moreprocessors to: determine a recommended frame position when anunacceptable status is output; and output the recommended frame positionto the human machine interface for display to the user.
 15. The liftmachine of claim 13, wherein the display of the human machine interfaceis a touch screen display that provides an augmented reality graphicaluser interface.
 16. A range and position determination system for a liftmachine, the range and position determination system comprising: a humanmachine interface structured to identify a desired position; and a baseunit structured to be coupled to a frame of the lift machine and to:determine a platform position, of a platform coupled to the frame,relative to the frame; receive a total weight of the platform; determinedistance and orientation information of the desired position relative toframe; query a load map including an operational envelope using thedistance and orientation information and the total weight; return anacceptable status when the distance and orientation information and thetotal weight are within the operational envelope; return an unacceptablestatus when the distance and orientation information and the totalweight are outside the operational envelope; and output the acceptablestatus or the unacceptable status to the human machine interface. 17.The range and position determination system of claim 16, wherein thehuman machine interface includes: a cradle structured to be rigidlycoupled to the platform and defining a calibration orientation; and asighting device movable relative to the cradle and including a sensorarray, wherein the desired position is defined relative to thecalibration orientation, and wherein the base unit determines a relativeposition of the desired position with respect to the base unit.
 18. Therange and position determination system of claim 16, wherein the humanmachine interface includes: a touch screen display providing anaugmented reality graphical user interface of a work area, wherein thedesired position is selectable from the work area.
 19. A methodcomprising: identifying a desired position of a platform; receiving atotal weight of the platform; determining distance and orientationinformation of the desired position; querying a load map including anoperational envelope using the distance and orientation information andthe total weight; returning an acceptable status when the distance andorientation information and the total weight are within the operationalenvelope; returning an unacceptable status when the distance andorientation information and the total weight are outside the operationalenvelope; and outputting the acceptable status or the unacceptablestatus to the human machine interface for display to a user.
 20. Themethod of claim 19, wherein identifying the desired position includesone of visually identifying the desired position with a sight glass, andlaser distance meter, and inertial measurement unit, or selecting thedesired position using a touch screen display providing an augmentedreality graphical user interface of a work area.
 21. The lift machine ofclaim 1, wherein the user input of the human machine interface is amomentary foot switch, and wherein the actuation information is sent tothe one or more processing circuits when the momentary foot switch isdepressed.
 22. The lift machine of claim 1, wherein the one or moreprocessing circuits are configured to inhibit movement of the platformin response to a user releasing the user input of the human machineinterface.